Action planning for multi-robot-based reconfigurable fixture

Abstract

The paper presents a planning system for a self–reconfigurable fixture. The fixture is a multi–agent system composed a variable number of adaptable mobile robotic agents and a workbench on which these agents can move and lock. The paper proposes an approach for the generation of a feasible action plan for the locomotion, reconfiguration, and positioning of robotic fixtures to support the thin–sheet workpiece near the operating machine–tool. The multi–agent action planning problem is converted to a constraint satisfaction problem (CSP). CSP is a computational problem where the task is to decide for a given finite set of variables and constraints whether there is an assignment to the variables that satisfies all constraints. The proposed approach called Triple–CSP applies an incremental state search to solve three hierarchical planning tasks for the three components of each mobile agent: a supporting head placement, a mobile base positioning, and a parallel kinematic machine positioning, respectively. Thus, the planner takes into account all the relevant physical, geometrical, and time constraints.