Optimization-based estimation of the execution time of a robotic assembly task sequence Universiteit Gent
Estimating the execution time of assembly task sequences of a new geometric model is an essential prerequisite for task allocation and resource planning decisions in smart multi-robotic assembly cells. This paper discusses an optimization-based method to estimate the execution time of a full sequence of assembly tasks, including picking, aligning, and insertion. Task descriptions, joint space trajectories, assembly task-related motions, and ...