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Selfoptimized Assembly Planning for a ROS Based Robot Cell

In: Engineering Education 4.0

Author

Listed:
  • Daniel Ewert

    (IMA/ZLW & IfU, RWTH Aachen University)

  • Daniel Schilberg

    (IMA/ZLW & IfU, RWTH Aachen University)

  • Sabina Jeschke

    (IMA/ZLW & IfU, RWTH Aachen University)

Abstract

In this paper, we present a hybrid approach to automatic assembly planning, where all computational intensive tasks are executed once prior to the actual assembly by an Offline Planner component. The result serves as basis of decision-making for the Online Planner component, which adapts planning to the actual situation and unforeseen events. Due to the separation into offline and online planner, this approach allows for detailed planning as well as fast computation during the assembly, therefore enabling appropriate assembly duration even in nondeterministic environments. We present simulation results of the planner and detail the resulting planner’s behavior.

Suggested Citation

  • Daniel Ewert & Daniel Schilberg & Sabina Jeschke, 2016. "Selfoptimized Assembly Planning for a ROS Based Robot Cell," Springer Books, in: Sulamith Frerich & Tobias Meisen & Anja Richert & Marcus Petermann & Sabina Jeschke & Uwe Wilkesmann (ed.), Engineering Education 4.0, pages 15-24, Springer.
    • Handle: RePEc:spr:sprchp:978-3-319-46916-4_2
    DOI: 10.1007/978-3-319-46916-4_2
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