A function block based approach for increasing adaptability of assembly planning and control

Wang, Lihui; Keshavarzmanesh, Shadi; Feng, Hsi-Yung

doi:10.1080/00207543.2010.501827

Cited by 20 publications

(5 citation statements)

References 23 publications

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“…In cases where the process is intricate, it is impractical to dissect individual activities in isolation. In such cases, categorizing activities into speci c task categories can be an effective method to simplify the problem domain (Lihui Wang and Feng, 2011). This step, referred to as task categorization, is designed to address the question, "What tasks are required to complete the assembly?"…”

Section: Design Of Symbiotic Taskmentioning

confidence: 99%

Integrating Bio Principles in Assembly Task Design to Enhance Symbiotic Human-Robot Collaboration

Barravecchia,

Bartolomei,

Mastrogiacomo

et al. 2024

Preprint

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The advancement of Human-Robot Collaboration (HRC) in industrial environments has underscored the importance of establishing harmonious and symbiotic relationships between humans and robots. This study, in line with the principles of Industry 5.0, proposes an approach to support the integration of human capabilities with advanced robotics, enhancing collaborative productivity and fostering a paradigm shift towards a more interactive and beneficial human-robot symbiosis. Prior research has established the basic principles of Symbiotic Human-Robot Collaboration (SHRC), but has often neglected the critical problem of how to conduct collaborative tasks to exploit the potential of these symbiotic interactions. This paper presents a novel methodology to support the design of protocols for collaborative tasks, with the aim of promoting positive symbiotic interactions between humans and collaborative robots. The focus is on developing tasks that naturally integrate positive symbiotic interactions, which involves determining task performers and optimizing the mutual benefits derived from task execution. A case study is presented to illustrate the practical application of this methodology in a real-world context.

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Section: Design Of Symbiotic Taskmentioning

confidence: 99%

Integrating Bio Principles in Assembly Task Design to Enhance Symbiotic Human-Robot Collaboration

Barravecchia,

Bartolomei,

Mastrogiacomo

et al. 2024

Preprint

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“…Valente and Carpanzano [47] demonstrate a dynamic scheduling algorithm for automation tasks via task modeling, which offers a control system with more responsiveness, reduced impact of uncertainties and unexpected changes, and higher resource utilization. Task modeling is also the focus of Wang et al [52], where modular composite function blocks based on sequences of operations are built and activated during runtime. Regarding skill-based task modeling, Backhaus and Reinhart [8] propose a planning module for composing robot applications, ready for deployment through the encoding of planned robot tasks modeled in AutomationML.…”

Section: Deploymentmentioning

confidence: 99%

Formally-based Model-Driven Development of Collaborative Robotic Applications

Askarpour

Lestingi

Longoni

et al. 2021

J Intell Robot Syst

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The development of Human Robot Collaborative (HRC) systems faces many challenges. First, HRC systems should be adaptable and re-configurable to support fast production changes. However, in the development of HRC applications safety considerations are of paramount importance, as much as classical activities such as task programming and deployment. Hence, the reconfiguration and reprogramming of executing tasks might be necessary also to fulfill the desired safety requirements. Model-based software engineering is a suitable means for agile task programming and reconfiguration. We propose a model-based design-to-deployment toolchain that simplifies the routine of updating or modifying tasks. This toolchain relies on (i) UML profiles for quick model design, (ii) formal verification for exhaustive search for unsafe situations (caused by intended or unintended human behavior) within the model, and (iii) trans-coding tools for automating the development process. The toolchain has been evaluated on a few realistic case studies. In this paper, we show a couple of them to illustrate the applicability of the approach.

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“…(ii) Feature-based decomposition helps define elementary tasks and semantic structuring of domain knowledge both for planning [9] and task execution [10].…”

Section: Introductionmentioning

confidence: 99%

“…In the application of the generic approach to assembly process planning, there is a set of assembly tasks (and potentially some auxiliary tasks) that must be sequenced and assigned to resources [1][9] [10]. The detailed technological content of assembly task t is specified by the assembly feature : , , , ,…”

mentioning

confidence: 99%

Decomposition approach to optimal feature-based assembly planning

2017

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The paper proposes a generic approach to assembly planning where individual tasks, with detailed technological content specified by features, must be combined into an optimal assembly plan subject to technological and geometric constraints. To cope with the complexity and variety of the constraints that refer to the overall assembly process, Benders decomposition is applied. The macro-level master problem looks for the optimal sequencing and resource assignment of the tasks, while sub-problem modules ensure plan feasibility on the micro-level from aspects of technology, fixturing, tooling, and collision. Constraints are also dynamically generated for the master problem. The approach is demonstrated in automotive assembly.

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A function block based approach for increasing adaptability of assembly planning and control

Cited by 20 publications

References 23 publications

Integrating Bio Principles in Assembly Task Design to Enhance Symbiotic Human-Robot Collaboration

Integrating Bio Principles in Assembly Task Design to Enhance Symbiotic Human-Robot Collaboration

Formally-based Model-Driven Development of Collaborative Robotic Applications

Decomposition approach to optimal feature-based assembly planning

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