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Scheduling Algorithms for Optimal Robot Cell Coordination - a Comparison

Avenir Kobetski (Institutionen för signaler och system, Automation) ; Domenico Spensieri ; Martin Fabian (Institutionen för signaler och system, Automation)
Proc. of IEEE Conference on Automation Science and Engineering (2006)
[Konferensbidrag, refereegranskat]

Flexibility is the keyword in the modern industrial world. Automatic generation of collision- and blocking free, time optimal schedules for industrial robot cells is thus motivated. While a lot of attention has been paid to the control of industrial systems, as well as to the development of general optimization algorithms, there is still a need to properly combine these two research areas. This paper discusses two scheduling algorithms, designed for industrial robot cells, in terms of performance. A novel heuristic to an A*-based algorithm, operating on Discrete Event Systems, is proposed and benchmarked against the well-known MILP algorithm.

Nyckelord: Scheduling, Coordination, Discrete Event Systems, MILP, A*

Denna post skapades 2006-08-25. Senast ändrad 2016-02-01.
CPL Pubid: 21988


Institutioner (Chalmers)

Institutionen för signaler och system, Automation (2005-2017)


Optimeringslära, systemteori

Chalmers infrastruktur

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Optimization of Manufacturing Cells Using Discrete Event Models