RESEARCH PAPERS: Additional Technical Papers

Coordination of Robots Sharing Assembly Tasks

[+] Author and Article Information
O. Z. Maimon

Massachusetts Institute of Technology, Laboratory for Information and Decision Systems, Cambridge, Mass. 02139; and Digital Equipment Corporation, Computer Integrated Manufacturing, Maynard, MA. 01754

S. Y. Nof

School of Industrial Engineering, Purdue University, West Lafayette, Ind. 47907

J. Dyn. Sys., Meas., Control 107(4), 299-307 (Dec 01, 1985) (9 pages) doi:10.1115/1.3140740 History: Received September 18, 1985; Online July 21, 2009


A multiple robot assembly cell for batch manufacturing is described and a new concept of an Activity Controller (AC) for such a cell is developed. The problem defined for the Activity Controller is which robot is to perform which operation, how, in terms of spatial routes and accessories, and when, in terms of timing and synchronization, in order to effectively achieve a certain task objective (e.g., minimize makespan time). The Activity Controller functions, structure, and algorithms for optimization and operational control are discussed, and then demonstrated on an actual assembly case.

Copyright © 1985 by ASME
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