Abstract
In many situations in industry, a sorting process must be performed to separate different or unnecessary items from those on a moving conveyor belt. In this paper we focus on the problem of how to obtain the optimal pick-and-place (PNP) sequence in a conveyor with two robots. Traditional methods are analyzed and their disadvantages are illustrated, and the algorithm we have developed is presented and accelerated using dynamic planning methods. Furthermore, by building PNPTIME tables, our algorithm considers the complex dynamics and geometry of the different robot models in practice. Our algorithm has sufficient computational speed to be suitable for practical PNP applications requiring high throughput, and extensive testing of the algorithm has shown a 10-20% improvement over traditional methods based on greedy methods.
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