01790nas a2200181 4500008003900000245005400039210005400093260005000147300001600197520124300213653001301456100001601469700001401485700001501499700001401514700001901528856006101547 2016 d00aMulti–object handling for robotic manufacturing0 aMulti–object handling for robotic manufacturing aFlorence, Italy, October 24-27bIEEEc12/2016 a6887 - 68933 a
The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as manipulators, mobile robots and conveyor belts.
The proposed approach allows different objects to be handled by different robots simultaneously in an efficient way and avoiding collisions with the environment and self–collisions between robots. In particular, the integrated system will be capable of planning paths for a set of objects from various starting points in the environment (e.g. shelves) to their respective final destinations. The proposed approach unifies the active (e.g., grasping by a hand) and passive (e.g., holding by a table) steps involved in moving the objects in the environment by treating them as end–effectors with constraints and capabilities.
Time varying graphs will be introduced to model the problem for simultaneous handling of objects by different end–effectors.
Optimal exploration of such graphs will be used to determine paths for each object with time constraints. Results will be validated through simulations.