Optimization-based path-planning framework considering process properties of industrial manufacturing processes

Christian Hartl-Nesic; Thomas Weingartshofer; Andreas Kugi

Optimization-based path-planning framework considering process properties of industrial manufacturing processes

Christian Hartl-Nesic
, Thomas Weingartshofer
, Andreas Kugi

Complex Dynamical Systems

TU Wien, Automation & Control Institute (ACIN)

Research output: Chapter in Book or Conference Proceedings › Conference Proceedings with Oral Presentation

Abstract

This paper presents a flexible robotic path-
planning framework for complex industrial processes. The
framework considers the process properties, including process
tolerances and windows, constraints, and redundant degrees
of freedom. By considering the process properties in an
optimization-based approach, challenging path-planning prob-
lems can be solved which exceed the capabilities of state-of-
the-art path planners. The effectiveness of the path planner is
validated through two different scenarios: a drawing process
and a spraying process. The results demonstrate the ability of
the proposed framework to generate feasible trajectories for
executing complex industrial processes.

Original language	English
Title of host publication	Proceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice
Pages	1-3
Publication status	Published - Oct 2023
Event	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Detroit, United States Duration: 1 Oct 2023 → 5 Oct 2023

Conference

Conference	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/Territory	United States
City	Detroit
Period	1/10/23 → 5/10/23

Research Field

Complex Dynamical Systems

Cite this

@inproceedings{cd7691b0849845439bc1a0326630fae1,

title = "Optimization-based path-planning framework considering process properties of industrial manufacturing processes",

abstract = "This paper presents a flexible robotic path- planning framework for complex industrial processes. The framework considers the process properties, including process tolerances and windows, constraints, and redundant degrees of freedom. By considering the process properties in an optimization-based approach, challenging path-planning prob- lems can be solved which exceed the capabilities of state-of- the-art path planners. The effectiveness of the path planner is validated through two different scenarios: a drawing process and a spraying process. The results demonstrate the ability of the proposed framework to generate feasible trajectories for executing complex industrial processes.",

author = "Christian Hartl-Nesic and Thomas Weingartshofer and Andreas Kugi",

year = "2023",

month = oct,

language = "English",

pages = "1--3",

booktitle = "Proceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice",

note = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 01-10-2023 Through 05-10-2023",

}

Hartl-Nesic, C, Weingartshofer, T & Kugi, A 2023, Optimization-based path-planning framework considering process properties of industrial manufacturing processes. in Proceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice. pp. 1-3, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, United States, 1/10/23.

Optimization-based path-planning framework considering process properties of industrial manufacturing processes. / Hartl-Nesic, Christian; Weingartshofer, Thomas; Kugi, Andreas.
Proceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice. 2023. p. 1-3.

Research output: Chapter in Book or Conference Proceedings › Conference Proceedings with Oral Presentation

TY - GEN

T1 - Optimization-based path-planning framework considering process properties of industrial manufacturing processes

AU - Hartl-Nesic, Christian

AU - Weingartshofer, Thomas

AU - Kugi, Andreas

PY - 2023/10

Y1 - 2023/10

N2 - This paper presents a flexible robotic path- planning framework for complex industrial processes. The framework considers the process properties, including process tolerances and windows, constraints, and redundant degrees of freedom. By considering the process properties in an optimization-based approach, challenging path-planning prob- lems can be solved which exceed the capabilities of state-of- the-art path planners. The effectiveness of the path planner is validated through two different scenarios: a drawing process and a spraying process. The results demonstrate the ability of the proposed framework to generate feasible trajectories for executing complex industrial processes.

AB - This paper presents a flexible robotic path- planning framework for complex industrial processes. The framework considers the process properties, including process tolerances and windows, constraints, and redundant degrees of freedom. By considering the process properties in an optimization-based approach, challenging path-planning prob- lems can be solved which exceed the capabilities of state-of- the-art path planners. The effectiveness of the path planner is validated through two different scenarios: a drawing process and a spraying process. The results demonstrate the ability of the proposed framework to generate feasible trajectories for executing complex industrial processes.

M3 - Conference Proceedings with Oral Presentation

SP - 1

EP - 3

BT - Proceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice

T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Y2 - 1 October 2023 through 5 October 2023

ER -

Optimization-based path-planning framework considering process properties of industrial manufacturing processes

Abstract

Conference

Research Field

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