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Simultaneous task placement and sequence optimization in an inspection robotic cell

Published online by Cambridge University Press:  08 April 2021

MohammadHadi FarzanehKaloorazi Open the ORCID record for MohammadHadi FarzanehKaloorazi [Opens in a new window] ,
Ilian A. Bonev  and
Lionel Birglen
MohammadHadi FarzanehKaloorazi*
Affiliation:
École de technologie supérieure, 1100 Notre-Dame St W, MontrealH3C 1K3, Canada. E-mail: [email protected]
Ilian A. Bonev
Affiliation:
École de technologie supérieure, 1100 Notre-Dame St W, MontrealH3C 1K3, Canada. E-mail: [email protected]
Lionel Birglen
Affiliation:
Polytechnique Montréal, 2900 Édouard-Montpetit Blvd, MontrealH3T 1J4, Canada. E-mail: [email protected]
*
*Corresponding author. Email: [email protected]
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Abstract

In this article, we improve the efficiency of a turbine blade inspection robotic workcell. The workcell consists of a stationary camera and a 6-axis serial robot that is holding a blade and presenting different zones of the blade to the camera for inspection. The problem at hand consists of a 6-DOF (degree of freedom) continuous optimization of the camera placement and a discrete combinatorial optimization of the sequence of inspection poses (images). For each image, all robot configurations (up to eight) are taken into consideration. A novel combined approach is introduced, called blind dynamic particle swarm optimization (BD-PSO), to simultaneously obtain the optimal design for both domains. The objective is to minimize the cycle time of the inspection process, while avoiding any collisions. Even though PSO is vastly used in engineering problems, the novelty of our combinatorial optimization method is in its ability to be used efficiently in traveling salesman problems where the distances between the cities are unknown and subject to change. This highly unpredictable environment is the case of the inspection cell where the cycle time between two images will change for different camera placements.

Keywords

Task placementCycle timeTraveling salesman problemParticle swarm optimization (PSO)Serial robotRedundancy
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2110 - 2130
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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