| People | Locations | Statistics |
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| Naji, M. |
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| Motta, Antonella |
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| Aletan, Dirar |
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| Mohamed, Tarek |
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| Ertürk, Emre |
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| Taccardi, Nicola |
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| Kononenko, Denys |
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| Petrov, R. H. | Madrid |
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| Alshaaer, Mazen | Brussels |
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| Bih, L. |
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| Casati, R. |
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| Muller, Hermance |
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| Kočí, Jan | Prague |
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| Šuljagić, Marija |
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| Kalteremidou, Kalliopi-Artemi | Brussels |
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| Azam, Siraj |
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| Ospanova, Alyiya |
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| Blanpain, Bart |
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| Ali, M. A. |
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| Popa, V. |
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| Rančić, M. |
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| Ollier, Nadège |
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| Azevedo, Nuno Monteiro |
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| Landes, Michael |
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| Rignanese, Gian-Marco |
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Kristiansen, Morten
Aalborg University
in Cooperation with on an Cooperation-Score of 37%
Topics
Publications (12/12 displayed)
- 2025Evaluating edge joint preparation impact on penetration depth in laser-arc hybrid weldingcitations
- 2024Evaluating edge joint preparation impact on penetration depth in laser-arc hybrid welding
- 2021Double-sided Hybrid Laser-Arc Welding of 25 mm S690QL High Strength Steelcitations
- 2021Hardening in laser forming under the temperature gradient mechanismcitations
- 2020Design of Automated Robotic System for Draping Prepreg Composite Fabricscitations
- 2020Design of Automated Robotic System for Draping Prepreg Composite Fabricscitations
- 2017Application of Hybrid Laser arc Welding for the Joining of Large Offshore Steel Foundationscitations
- 2017Application of Hybrid Laser arc Welding for the Joining of Large Offshore Steel Foundationscitations
- 2014Constraint optimization model of a scheduling problem for a robotic arm in automatic systemscitations
- 2014Vision of the Arc for Quality Documentation and for Closed Loop Control of the Welding Processcitations
- 2014Vision of the Arc for Quality Documentation and for Closed Loop Control of the Welding Process:(Best Presentation Price)citations
- 2002Automatic Robotic Spray Painting of Low Volume High Variant Parts
Places of action
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article
Constraint optimization model of a scheduling problem for a robotic arm in automatic systems
Abstract
In this paper, we investigate the problem of scheduling a 6 DOF robotic arm to carry out a sequence of spray painting tasks. The duration of any given painting task is process dependent and fixed, but the duration of an “intertask”, corresponding to the process of relocating and reorienting the robot arm from one painting task to the next one, is influenced by the order of tasks and must be minimized by the scheduler. There are multiple solutions for reaching any given painting task and tasks can be performed in either of two different directions. Further complicating the problem are characteristics of the painting process application itself. Unlike spot-welding, painting tasks require movement of the entire robot arm. In addition to minimizing intertask duration, the scheduler must strive to maximize painting quality and the problem is formulated as a multi-objective optimization problem. The scheduling model is implemented as a stand-alone module using constraint programming, and integrated with a larger automatic system. The results of a number of simulation experiments with simple parts are reported, both to characterize the functionality of the scheduler and to illustrate the operation of the entire software system for automatic generation of robot programs for painting.