Optimizing robot motion strategies for assembly with stochastic models of the assembly process

Rajeev Sharma, Steven M. LaValle, Seth A. Hutchinson

Research output: Contribution to conferencePaper

Abstract

Gross-motion planning for assembly is commonly considered as a distinct, isolated step between task sequencing/scheduling and fine-motion planning. In this paper we formulate the problem of gross-motion planning for assembly in a manner that integrates it with both the manufacturing process and the fine motions involved in the final assembly stages. One distinct characteristic of gross-motion planning for assembly is the prevalence of uncertainty involving time - in parts arrival, in request arrival, etc. We propose a stochastic representation of the assembly process that improves the robot performance in the uncertain assembly environment by optimizing an appropriate criterion in the expected sense.

Original languageEnglish (US)
Pages341-346
Number of pages6
StatePublished - Jan 1 1995
EventProceedings of the IEEE International Symposium on Assembly and Task Planning - Pittsburgh, PA, USA
Duration: Aug 10 1995Aug 11 1995

Other

OtherProceedings of the IEEE International Symposium on Assembly and Task Planning
CityPittsburgh, PA, USA
Period8/10/958/11/95

Fingerprint

Stochastic models
Robots
Motion planning
Scheduling

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sharma, R., LaValle, S. M., & Hutchinson, S. A. (1995). Optimizing robot motion strategies for assembly with stochastic models of the assembly process. 341-346. Paper presented at Proceedings of the IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, USA, .

Optimizing robot motion strategies for assembly with stochastic models of the assembly process. / Sharma, Rajeev; LaValle, Steven M.; Hutchinson, Seth A.

1995. 341-346 Paper presented at Proceedings of the IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, USA, .

Research output: Contribution to conferencePaper

Sharma, R, LaValle, SM & Hutchinson, SA 1995, 'Optimizing robot motion strategies for assembly with stochastic models of the assembly process' Paper presented at Proceedings of the IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, USA, 8/10/95 - 8/11/95, pp. 341-346.
Sharma R, LaValle SM, Hutchinson SA. Optimizing robot motion strategies for assembly with stochastic models of the assembly process. 1995. Paper presented at Proceedings of the IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, USA, .
Sharma, Rajeev ; LaValle, Steven M. ; Hutchinson, Seth A. / Optimizing robot motion strategies for assembly with stochastic models of the assembly process. Paper presented at Proceedings of the IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, USA, .6 p.
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