An Implementation of Opportunistic Scheduling for Robotic Assembly
Abstract
The goal of this thesis is to combine computerized vision and artificial intelligence programming in an application of robotic assembly that will use opportunistic scheduling. Opportunistic scheduling is making a schedule based on current opportunities. A robot provided with a vision system has the capability of recognizing random opportunistic events. However, vision systems have many limitations. A heuristic method of taking pictures is developed to improve object recognition reliability. The robot is given basic assembly knowledge using the production rule methodology, and assembly precedence information using a database of partial order sets. Dynamic state information is also maintained by the program. Parts are delivered randomly on conveyor belts. The robot is given the capability of assembling a mix of products and assembling multiple products concurrently. Thus, the robot can assemble a product in any feasible way and schedule an optimal plan according to the random arrival of parts. A user friendly interface with the robot is developed.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1990
- Accession Number
- ADA231160
Entities
People
- Allan W. Butler
Organizations
- Air Force Institute of Technology