Evaluation of assembly routines with multitasking execution in a physical robotic cell
by Sergio San Martin
A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in
Industrial and Management Engineering
Montana State University
© Copyright by Sergio San Martin (1989)
Abstract:
This research covered the development of multitasking execution programs and evaluation of twelve
assembly sequences, in terms of efficiency and effectiveness, applied to a robotic cell under two
software control methods. The assembly sequences were defined via analytical methods and verified
later with a physical simu I at ion.
The analytical methods used to define the sequences were the SPT rule, the LPT rule and the Branch
and Bound algorithm. The software control methods were a single task execution program, and a
multitask execution program. The single task execution programs performed all the activities in a
sequencial mode. The multitask execution program allowed two activities to run simultaneously.
The physical simulation was performed in a robotic cell containing two TeachMover robot arms, a
central assembly area, and two bin cells built with Fischertechnik components. The part assembled was
a representation of a circuit board with four microchips made of machinable wax.
The control software was coded using ARMBASIC for the robot arms and TurboBASIC for the main
program.
The analytical results showed that using a single robot, the sequence with the best completion time was
generated with the Branch and Bound algorithm. Also, this result was verified with the physical
simulation that generated the best completion time using the Branch and Bound algorithm.
Using two robot arms, the analytical results showed that the Branch and Bound algorithm under a
multitask execution mode generated the best assembly sequence. In this case, the physical simulation
showed different results. The best sequence found with the physical simulation was an adjusted
sequence, running under a multitask execution mode, that removed the physical conflicts to avoid
collisions in the assembly area. The physical interference could not be observed by the analytical
methods. Therefore, the use of physical simulation to evaluate robotic motions is recommended. E v a lu a tio n
w ith
o f Assembly R o u tin e s
M u ltita s k in g
in a P h ysi c a I
Execu tio n
R o b o t i c Ce I I
by
S e rg io
San M a r t i n
A t h e s i s su b m itte d in p a r t i a l f u l f i l l m e n t
o f th e requirem ents
f o r th e degree
of
M a s t e r . o f S cience
ih
In d u s tria l
a nd Management E n g i n e e r i n g
MONTANA STATE UN IVERSITY
Bo z em an , M on ta na
March
19 8 9 .
0
COPYRIGHT
by
S e r g i o San M a r t i n
1989
Al I R i g h t s
Reserved
APPROVAL
o f a th esis
s u b m i t t e d by
S e r g i o San M a r t i n
T h i s t h e s i s has be en r e a d by e a c h member o f t h e t h e s i s
c o m m i t t e e and has be en f o u n d t o be s a t i s f a c t o r y r e g a r d i n g
con ten t,
E n g lis h usage,
fo rm at,
c ita tio n s ,
b ib lio g ra p h ic
s t y l e , and c o n s i s t e n c y , and i s r e a d y f o r s u b m i s s i o n t o t h e
C o lle g e o f Graduate S tu d ie s .
Date
C h airperson,
Approved f o r
Date
M ajor Departm ent
H e ad ,
Approved f o r
Date
the
the
G ra d u a te Committee
M ajo r Departm ent
C o lle g e o f Graduate S tu d ie s
Graduate Dean
STATEMENT OF PERMISSION TO USE
In p r e s e n t i n g
requirem ents
th is
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IV
TABLE OF CONTENTS
Page
1.
INTRODUCTION
2.
REVIEW OF RELEVANT LITERATURE
3.
............................................................................................
I
4
R o b o tic Assembly O p e r a tio n s
F o rm u latio n
o f t h e Assembly P la n
Problem
B r a n c h a nd Bound A p p r o a c h .......................................... ....
M u l t i t a s k R e a l - T i m e P r o g ra m m i n g .....................................
R e a I Ti m e ............................................................................................
M u l t i t a s k i n g ....................................................................................
T a s k S t a t e s ......................................................................................
P r i o r i t y C o n t r o l P r o g r a m .....................................................
S c h e d u l e r P r o g r a m .......................................................................
R e a l - T i m e M acr o Commands .....................................................
M i c r o b o t T e a c h M o v e r ....................................................................
S c h e d u l i n g R u l e s ..............................................
S h o r t e s t P r o c e s s i n g T i m e .....................................................
L o n g e s t P r o c e s s i n g Time .......................................................
20
21
22
23
24
METHOD OF ANALYSIS
^OvD(-or\joovDkD-fc>.
...............................................
........................ '____
25
D e s c r ip tio n o f th e R o botic C e ll
A s s e m b l y O p e r a t i o n s ..........................
A s s e m b l y S e q u e n c e s ..........................
A s s e m b l y S c h e d u l i n g ...........
M u l t i t a s k i n g P r o g r a m ........................
P e r f o r m a n c e C r i t e r i a ........................
25
28
28
38
39
43
s
4.
5.
DATA COLLECTION AND A N A L Y S I S ..............,...................................
44
A n a l y t i c a l R e s u l t s .......................................................................
P h y s i c a l S i m u l a t i o n R e s u l t s ...............................................
44
50
SUMMARY AND CONCLUSIONS
63
V
TABLE OF CONTENTS
REFERENCES CITED
APPENDICES
(C ontinued)
............................................................................................
66
................ ................. ■......................................; ...............................
69
A p p e n d i x A: B r a n c h and Bound T r e e s S i n g l e Case
A p p e n d i x B : B r a n c h and Bound T r e e s
M u l t i t a s k i n g ..................................
A p p e n d i x C : Comp I e t i on T i me f o r S i n g l e Ro b o t
T r e e s .................................................. : ......................................
Append i x D : Comp I e t i on T i me f o r Doub.l e Ro bo t
T r e e s ............................................................................................
A p p e n d i x E : S o u r c e Code f o r P ro g ra m s " U L L " ,
"DLL I " , " D L L " , "DLL I " ......................................................
A p p e n d i x F : S o u r c e Code f o r P r o g ra m " T E S I N l " . . .
70
75
84
89
98
103
vi
L I S T OF TABLES
Tab I e
Page
1.
A s s e m b l y M eth ods
2.
T ra v e lin g
3.
...............................
Rob ot A and Robot B ..................
35
A s s e m b l y Se q u e n c e s
.........................................................................
44
4.
A n a ly tic a l
........................................................................
45
5.
Perform ance o f t h e
.........................................................
48
6.
Physical
7.
Number o f P h y s i c a l
8.
9.
Ti m e s f o r
30
R esults
Rules
S im u la tio n R esults
...................................................
53
.................................. .............
56
A n a ly tic a l R e s u lts vs. Physical S im u la tio n
R e s u I t s ........................................................................................... .. .
60
Summary o f t h e
..............................................
62
C o n flic ts
b e s t sequences
10.
C o m p l e t i o n Ti m e
f o r Branches
I and
2 -
Ro bo t B .
85
11.
C o m p l e t i o n T im e
f o r . Branches
3 and
4 -
Ro bo t B .
86
12.
C o m p l e t i o n Ti m e
f o r Branches
I and
2 -
Ro b o t A .
87
13.
C o m p le tio n Time
f o r Branches
3 and
4 -
Ro bo t A .
88
14.
Com pletion
Ti m e f o r P a i r
(1 ,2 ) M u ltita s k in g
....
90
15.
Com pletion
T im e f o r P a i r
(1 ,3 ) M u ltita s k in g
....
91
16.
Com pletion
T im e f o r P a i r
(1 ,4 ) M u ltita s k in g
....
92
17.
Com pletion
T im e f o r P a i r
(1 ,5 ) M u ltita s k in g
....
93
18.
Com pletion
Ti m e f o r P a i r
(2 ,1 ) M u ltita s k in g
....
94
19.
C o m pletion
T im e f o r P a i r
(3 ,1 ) M u ltita s k in g
....
95
20.
C o m pletion
T im e f o r P a i r
(4 ,1 ) M u ltita s k in g
....
96
L I S T OF TABLES
21.
C o m pletion
T im e f o r
P a ir
(C ontinued)
(5 ,1 )
M u ltita s k in g
V I f I
L I S T OF FIGURES
F ig u re
Page
1.
A s s e m b l y Modes by P r o d u c t o r
2.
Memory Map f o r
3.
Task S t a t e s
4.
S in g le
5.
M u ltita s k
6.
Layout o f th e
R o botic
C e ll
7.
Layout o f th e
C irc u it
Board
8.
O p eratio n s
9.
General
M u ltita s k in g
and T r a n s i t i o n
Task O p e r a t i n g
O p eratin g
Paths
.............
26
..........................................................
.................................................................................
for
Robot A .....................
11 .
General
B r a n c h a nd Bound T r e e
12 .
Program E x e c u t in g
13.
M u ltita s k
14.
18.
17
18
Tree f o r
17.
16
.........................................
B r a n c h and Bound
16.
14
............................
10.
15.
...
8
.......................................................
B r a n c h and Bound T r e e
M u ltita s k
.......................
R eal-Tim eO p e ra tio n
Sy s te m
Sy st e m
Se q u e n c e
Model V a r i e t y
Se q u e n c e
C h i p #1
Ro bo t A . . . . . . .
........................
27
31
33
34
37
............................................................
40
.........................................................
41
A n a l y t i c a l C o m p l e t i o n T im e f o r Ro bo t A w i t h t h e
B r a n c h a nd Bound A l g o r i t h m ....................................................
Al
C o m p l e t i o n t i m e u s i n g R o b o t A a nd Robot B u n d e r
M u l t i t a s k E x e c u t i o n w / a B r a n c h and Bound
A l g o r i t h m ................................................................................................
49
P h y s i c a l P a t h s f o l l o w e d by R o b o t A and R o b o t B
u n d e r t h e B r a n c h a nd Bound s o l u t i o n .............................
55
P h y s i c a l P a t h s f o l l o w e d b y R o b o t A and R o b o t B
u n d e r t h e LPT R u l e s o l u t i o n .................................................
57
P h y s i c a l P a t h s f o l l o w e d by R o b o t A and R o b o t B
u n d e r an A d j u s t e d s e q u e n c e ....................................................
59
E xecu tiv e
Program
ix
L I S T OF FIGURES
(Continued)
19.
Branch
and Bound T r e e
fo r
C hip
#2 Ro bo t A ..................
71
20.
Branch
and Bound T r e e f o r
C hip
#3 Rob ot A ..................
72
21.
Branch
and Bound T r e e
Chip
#4 Ro bo t A .................
73
22.
General
B r a n c h and Bound T r e e
Ro bo t B ..................
74
23.
M u ltita s k
.24.
M u ltita s k
for
fo r
B.
and B.
Tree f o r
p a i r 1,2
.............................
76
B.
and B .
Tree f o r
p a i r 1,3
.............................
77
25.
M u ltita s k
B.
and B.
Tree f o r
p a i r 1,4
.....................
78
26.
M u ltita s k
B.
and B .
Tree f o r
p a i r 1,5
.............................
79
27.
M u ltita s k
B.
and B.
Tree f o r
p a i r 2,1
............................
80
28.
M u ltita s k
B.
and B.
Tree fo r
p a i r 3,1
............................. . 8 1
29.
M u ltita s k
B . and B . T r e e f o r
p a ir
4,1
................ ..
..
82
30.
M u ltita s k
B.
p a ir
5,1
.............................
83
31.
Source
co de f o r
p r o g r a m "ULL"
...................................................
99
32.
Source
co de f o r
p r o g r a m "ULL I "
..............................................
100
33.
Source
code f o r
p r o g r a m "DLL"
................................................
101
34.
Source
co de f o r
p r o g r a m "DLL I "
..............................................
102
35.
source
code f o r
program "TESIN1"
and B.
Tree f o r
........................................
104
X
ABSTRACT
This
research
covered
the
developm ent
of
m u l t i t a s k i n g e x e c u t i o n p r o g r a m s a nd e v a l u a t i o n o f t w e l v e
assem bly
sequences,
in
term s
of
e ffic ie n c y
and
e f f e c t i v e n e s s , a p p l i e d t o a r o b o t i c c e l l under two s o f t w a r e
c o n tro l m ethods.
The a s s e m b l y s e q u e n c e s w e r e d e f i n e d v i a
a n a ly tic a l
m et ho ds
an d
v e rifie d
la te r
w ith
a
physical
s i mu I a t i o n .
The a n a l y t i c a l m et ho ds u se d t o d e f i n e t h e seq ue nc e s
w e r e t h e SPT r u l e , t h e LPT r u l e a nd t h e B r a n c h and Bound
alg o rith m .
The s o f t w a r e c o n t r o l m et ho ds w e r e a s i n g l e t a s k
e x e c u t i o n p r o g r a m , and a m u l t i t a s k e x e c u t i o n p r o g r a m .
The
s i n g l e t a s k e x e c u t i o n programs p e rfo rm e d a l l t h e a c t i v i t i e s
in a s e q u e n c ia l
mode.
The m u l t i t a s k
e x e c u t i o n program
a llo w e d two a c t i v i t i e s t o run s i m u lt a n e o u s l y .
The p h y s i c a l s i m u l a t i o n was p e r f o r m e d i n a r o b o t i c
c e ll
c o n tain in g
two
TeachMover
robot
arms,
a
cen tral
a s s e m b l y a r e a , an d t w o b i n c e l l s b u i l t w i t h F i s c h e r t e c h n i k
components.
The p a r t a s s e m b l e d was a r e p r e s e n t a t i o n o f a
c i r c u i t b o a r d w i t h f o u r m i c r o c h i p s made o f m a c h i n a b l e wax.
the
The c o n t r o l
r o b o t arms a nd
s o f t w a r e was c od ed u s i n g ARMBASI C f o r
TurboBASI C f o r t h e main program .
The a n a l y t i c a l r e s u l t s showed t h a t u s i n g a s i n g l e
robot,
the
sequence w it h
the
best
com pletion
t i m e was
g e n e r a t e d w i t h t h e B r a n c h and Bound a l g o r i t h m .
A lso, t h is
re s u lt
was
v e rifie d
w ith
the
physical
sim u la tio n
that
g e n e r a t e d t h e b e s t c o m p l e t i o n t i m e u s i n g t h e B ra n ch and
Bound a l g o r i t h m .
U s i n g t w o r o b o t a r m s , t h e a n a l y t i c a l r e s u l t s showed
that
the
B r a n c h a nd
Bound a l g o r i t h m
under a m u ltita s k
e x e c u t i o n mode g e n e r a t e d t h e b e s t a s s e m b l y s e q u e n c e .
In
th is
case,
the
p h y sic al
s im u la tio n
showed
d iffe re n t
re s u lts .
The
best
sequence
found
w ith
the
physical
s im u la tio n
was
an
ad justed
sequence,
running
under, a
m u ltita s k
exe cu tio n
mode,
that
r em ove d
the
physical
c o n f l ic t s t o avo id c o ll is i o n s
in t h e assem bly a r e a .
The
p h y sic al
in te rfe re n c e
could
not
be
observed
by
the
a n a ly tic a l
methods.
T h e refo re,
the
us e
of
physical
s i m u l a t i o n t o e v a l u a t e r o b o t i c m o t i o n s i s rec om m en de d.
I
CHAPTER I
INTRODUCTION
In d u s tria l
p ieces
of
robot
hardware
hardware
fix tu re s ,
robots
mus t
be
the
e ffic ie n t
layout
Assembly
in d u s tria l
and
d iffe re n t
is
one
c a p a b ility ,
fle x ib ility
a robot
The
con trol
types
in to
in
of
a
the
p a lle ts ,
s in g le
c e ll
w or k
be
several
These
other
machine
some a p p l i c a t i o n s
the
grow ing
What
makes
is
in
several
c e ll.
o rg an ized
a
v a rie ty
are
It
is
in to
an
work
of
among
is d e fin e d
in
purpose
of
schemes
for
c o n tro llin g
th is
a
ab le
mu st
in
the
execute
accommodate
to
u tiliz e
be
solved.
a s s e m b la b iIity ,
these
fo r
problem s.
and
The
as a d e g re e o f v a r i a t i o n
assem bly
sequences
that
a nd p r o g r a m m i n g . .
research
ro b o tic
to
to
be
problems
be a s s e m b l e d and
can a c c e p t
cyc le
To
areas
useful
c a p a b ility
fle x ib ility ,
included
robots
to
the
a p p lic a tio n
robots
th e ir
c o n fig u ra tio n s .
fe a s ib ility ,
of
robot.
In
on.
involve
[21].
assem bly
p ro d u c ib iIity
the
so
equipm ent
v a ria tio n s
Technological
to
conveyers,
a p p lic a tio n s
pro grammed
u s u a lly
include
ro b o tic s .
assem bly
part
ad d itio n
in te g ra te d
im portant
in
in
c o m po ne nt s
to o ls ,
th is
a p p lic a tio n s
was
to
assem bly
introd uce
c e ll
good
through
2
p h y sic al
were
s im u la tio n .
d efin ed
assem bly
c e ll
by
e ffic ie n t
ro u tin e s .
u tiliz a tio n
other
flo w
a nd
the
sch eduling
the
cell
seek f o r
lo n g es t
processing
one
Z e n ith
the
b as ic
in
which
This
c e ll,
two
area,
arms
c irc u it
in
o f the
In
was
the
e ffic ie n c y
two
were
w ith
tree
of
by
the
by
tim e
and
us ed
to
produ ction
processing tim e
(SPT)
Furtherm ore,
the
were c o n s id e re d
id e n tic a l
con trol
to
the
located
su ited
on
co m po nen ts
at
to
the
work
cell
enlarged
tin y
sides
perform
each
c e lls
To
and
construct
were
was
some
p art.
a
used
the
of
the
as
cell
c e ll.
processing
The
or
product
re p re s e n ta tio n
The s i z e s
because
of
a
of
a
o f th e board
low
re s o lu tio n
w orkpieces.
research, . the
and t h e
system.
fo u r m ic ro ch ip s.
were
bin
TeachMover
The ^cel I was an a s s e m b l y r o b o t
ro b o tic
TeachMover f o r
th is
to
were
board w ith
m icro chips
its
cell
determ in ed
com pletion
(LPT).
F is c h e rte c h n ik
operatio n s
assem bled
was
c o n s is t e d o f two t a b l e - t o p
blocks.
arrangem ent
assem bly
and
cell
m icrocom puter
b u ild in g
determ ined
along
tim e
ro b o tic
com binations
c rite ria
shortest
a nd
the
sequence.
assem bly
e n tire
the
perform ances
such as t h e
The r o b o t i c
arms,
such a s
ru le s
a better
was
e ffe ctive n ess
perform ance
B r a n c h a nd Bound a l g o r i t h m
fo r
e ffe c tiv e
e ffic ie n c y
the
The
schemes
and
c rite ria
tim e .
e v a lu a te
a nd
The
perform ance
mean
Th e s e
a n a ly tic a l
e ffe ctive n ess
from t h e
re s u lts
SPT r u l e ,
of
the
the
LPT
3
ru le ,
and
assem bly
re s u lts
of
th is
the
Branch
ro u tin e s
under th e
which
d ire c tly
a p p lie d
several
co m pa re d
was
to
occurred
This
to
to
the
c e ll.
regarding
a
for
the
a ll
a
v a rie ty
of
the
physical
re s u lts
comparison
suggested
sim u la tio n
p o s sib le
ro b o tic
of
The o b j e c t i v e
a n a ly tic a l
This
v a rie ty
physical
c o n d itio n s .
better
also
from
the
observe
when
research
selected
Bound a l g o r i t h m
same o p e r a t i n g
sug gestio ns
d esig n s.
ro u tin e s
were
comparison
problems
and
were
resu lted
assem bly
in
cell
best
assem bly
assem bly
ro u tin es
(sequences).
F in a lly ,
adapted
for
perform ance
a m u ltita s k
exe cu tio n
TeachMover
arms
w ith
m et hod
th is
o t h e r assem bly methods.
in
th is
was
programming
research
com pa red
metho d was
a nd
to
the
that
cell
w ith
4
CHAPTER 2
REVIEW OF RELEVANT LITERATURE
/r
Robotic
The
use
of
robots
a p p lic a tio n s .
assem bly
The
the
Assemb I v O p e r a t I o n s
One
of
in
in d u stry
the
best
has
a
examples
great
is
v a rie ty
found
in
of
the
in d u stry.
use
of
robots
to
perform
s u b j e c t o f much r e s e a r c h
rec e n tly
has
it
b ee n
eco n o m ic ally
v ia b le
environm en ts.
As w i t h
real
in d u stry
w orld
research
of
into
d is c o v e rie s '
shown
to
t h e mid
to
w ith in
in
lag s, f a r
be
be
tasks
behind
both
and
m anufacturing
te c h n o lo g ies,
the
fro n tie rs
because
proved
been
but o n ly
te c h n ic a lly
other
assem bly,
has
1 9 7 0 's ,
general
advances
ro b o tized
ne ed
since
assem bly
and
the
adapted
the
of
"new
to
in d u s try .
Robots
have
m anipulators
that
have
w ith
high
of
v irtu a lly
levels
communicate w it h
environm en ts.
g ra d u a lly
other
The
m icrocom puters
of
zero
machines
p erm itted
p rim itiv e
to
in te llig e n c e '
an d
and
from
in te llig e n c e ,
' pseudo
developm ent
have
evo lve d
react
to
w idespread
the
devices
that
changing
can
w or k
a v a ila b ility
developm ent
of
very
5
s o p h is tic a te d
B efore
ensure
robots
the
that
an d s e n s i n g
in s ta lla tio n
the
assem bly
c a p a b ilitie s ,
c o n flic ts
the
con trol
a nd
o th e rw is e
being
robots,
tasks
fin a n c ia l
product
of
systems.
are
it
w ill
assem bled
im portant
com patible
fa ilu re s
loss
is
su ch
as
re s u lt.
must
w ith
the
tech n ical
In
be
to
a d d itio n ,
design ed
for
autom ati on.
An a u t o m a t e d
provided
w ith
perform ed
I eve Is
use
s p e c ific
a llo w s
that
m a te ria ls
at
both
a ll
a c tiv itie s
be
a nd
th at
be
p h ysical
assem bly
Th e
[2]
an d
assem ble
produ cts,
of
p o s itio n .
and
robot to
fle x ib ility
re p e a ta b ility
presented
In
they
fu n ctio n al
In
tasks
lim ite d
Thus
and
d e p e n d on t h e
to
of
repeated
in sert
d iscrete
sequences
and
by
re s p e c tiv e
perform ance
p lanning
robot
picked
th e ir
by
robots
then
assem bly
the
the
s ta tio n s ,
bins
attached
only
a
freedom .
fo r
s e le c tiv e ly
include
o p e ra tio n s.
system w i l l
from
are
or
is
assem bly
parts
hardware
be c u s t o m i z e d t o
concepts
programmable
in serted
Assembly
s p e c ific
parts
an d
and d e g r e e s o f
ro b o tic
c om po ne nt
them.
p ic k -m o v e -in s e rt
assem bly
ro b o t's
com po nen t
arms
softw are
' standard'
systems.
series
ro b o tic
a p p ro p ria te
a
pay lo a d ,
Drezner
and
necessary
of
task.
s ize ,
a
req u ires
[11].
accessories
pick
the
s a tis fa c to rily
The
its
process
of
of
the
control
of
acco rd in g
to
t h e assem bly sequences.
B asic
types
of
assem bly
s y s te m s
vary
6
th e ir
degrees
ty p ic a l
of
autom atio n.
assem bly
s y s te m s
w ith
Boothroyd
of
part
three
[12]
m ai n
tran sfer
Manual, e i t h e r
feeders.
2)
Special
or w ith
3)
P r o g r a m m a b le a s s e m b l y w i t h w or k done e i t h e r
o r on a m o vi ng c o n v e y o r .
d ev ice s o r w ith
w ith
on a f i x t u r e
include
the
fo llo w in g
1)
2)
One o r more r o b o t a r m s .
Parts
and
produ cts,
in p u t/o u tp u t
m e c h a n is m ,
conveyor.
P a rts s to ra g e d e v ic e s , eg. f e e d e r s , b i n s , p a l l e t s .
S t a t i o n a r y p e r i p h e r a l m achines, eg. p r e s s .
Assembly t o o l s , e g . powered screw d r i v e r .
3)
4)
5)
Drezner
[2]
id e n tifie d
p lanning
that
systems.
He c a l l e d
He a l s o
problem
the
of
co m po nen ts
w ith
m otions
p rio r
to
the
id e n tific a tio n
1)
2)
to
to
those
plan
the
o b je c tiv e
[2 ].
The
o f the
parts
to
problem s.
fo llo w in g
According
p ick,
d esign
and
problems.
as
assem bly
optim ize
and
assem bly
defin ed
arrange
was
co n s is te d
place
to
the
cell
and
performed
in
the
item s:
and q u a n t i t i e s
The p h y s i c a l p l a c e m e n t and
assembled p r o d u c t .
was
eg.
desig n in g
assem bly p la n
assem bly
plan
of
programmable
problem
p h y s ic a lly
assem bly
The s p e c i f i c
the product.
the
problems
s o lu tio n s
how
problems
w ith in
these
assem bly
in s e rt
o f components:
the
occurred
o ffe re d
Drezner,
classe s
part
indexing t r a n s f e r
A program m able ass em bly system would t y p i c a l l y
fiv e
s ix
classes:
1)
purpose a u to m a tic , e i t h e r
free tra n s fe r o f p arts.
d efined
lo c a tio n
to
of
be a s s e m b l e d
e a c h p a r t on
in to
the
7
The
assem bly
three
1)
2)
3)
plan
problem
was
dependent
upon
c h a ra c te ris tic s :
The a s s e m b l y mode i n t e r m s o f p r o d u c t v a r i e t y .
The v a r i e t y a nd q u a n t i t y o f a s s e m b l y p a r t s .
The s e q u e n c e o f a s s e m b l y i f a n y i s g i v e n .
W ith
regard
to
the.
mode
programmable ass e m b ly c e l l s
modes:
s in g le
product.
product,
The
operations
s in g le
fo r
changes were
to
b a s ic a l Iy
lik e ly .
tim e .
the
o p eratio n s
b as ic
product
The
changeable
for
m u ltip le
fo r
the
were
v a rie ty
q u a n tity
of
im p ortan t
Drezner
[2]
lo catio n
of
assem bly as
Figure
a n d model
of
assem bly
separated
factors
also
c ritic a l
b asic
an d
m u ltip le
com prised
the
assem bly
product
product
several
product
mode
d esign
refereed
p r o d u c t s , and m o d e l s .
or
p r o d u c t a t a same
model
com prised
assem blies
of
the
several
same p e r i o d .
parts
parts
of
d iffe re n t
composed
planning
of
assem bly
component and t h e o p t i m a l
to
shows t h e
v a rie ty
three
one
types
a nd
assem bly
o p eratio n s.
d e s c rib e d th e d e te rm in a tio n o f th e optim al
ea c h c e l l
I
in
one o f
where
in te rleav ed
p r o d u c t s an d m o d e l s d u r i n g t h e
The
mode
o p e ra tio n ,
product
h o w e v e r , o p e r a t e d t h e model
F in a lly ,
assem bly
in
changeable
t h e assem bly o p e r a t i o n s
The c e l l s ,
assem bly
operated
product
o ne
of
[2].
sequence o f
m in im iz e th e assem bly p la n
d iffe re n t
problem .
a s s e m b l y modes b y p r o d u c t
8
Required Assembly,1
C e ll F l e x i b i l i t y j Example
I Mass Q u a n titie s Automatic Assy.
+— Io r long term
(non-program)
I One
|
|p ro d u c ti on
- 1Basic
|
I Product— |
!Model
|
I
I Product Chan+— Iges a re I i k e Hy
M ajor Cel I com­
ponents a re
programmable
Car
body
spot
welding
As above, and mi­
nor cel I compo­
n e n ts. May be ex­
changed each tim e
model changes.
Gear
Box
v a r ie ty
(mass
q tys)
Product
Model V a r ie ty
(Several
+— I Products
I
!One Model
I
,'at a Time
EIe c t r ic
Motors
!S everal
|
- } Product— |
!Models
|
I
{Simultaneous
+— I ModeI
!Mix
F igure
I.
Ce11 has a 11 re­
q u ire d assembly
c a p a b ilit ie s a t
a l I tim es and is
programmable
A s s e m b l y Modes b y P r o d u c t o r
Model
V a riety
9
F o rm u Iatio n
o f t h e Assembly P la n
The
sim ple
when t h e
number
parts
the
in
assem bly
o f bin
assem bly
made by a r o b o t w i t h
P r o b Iem
plan
cel Is
problem
"n"
place.
is
The
ca n
equal
to ta l
be
to
fo rm u lated
the
number o f
of
movements
tim e
an e m pt y g r i p p e r on t h e way b a c k
is t o
be m i n i m i z e d .
One
sim ple
of
the
assem bly
approach.
solving
b ee n
o p tim iza tio n
plan
This
the
u se d
tra v e lin g
very
problem
approach
tra v e lin g
is
was
the
of
a
in
for
so lvin g
Branch
a nd
o rig in a l Iy
salesman p ro b le m .
e x te n s iv e ly
d istan ce
techniques
order
salesman
to
a nd
Bound
develo ped
for
approach
has
This
m in im ize
was
the
the
adapted
fo r
to ta l
th is
research.
B r a n c h a nd Bound A p p r o a c h
This
salesman
of
"n"
an d
d istance
so
tra v e le d
(or
n w ith
to
to
were
n . The o b j e c t
presented
in which a
in
a
corresponds t o
etc.
was
as
salesman
a
to ta l
th e tim e
given
c o n strain ts
of
th at
tim e ,
lo c a tio n ;
another
was t o
way
an d
[16].
a m atrix
In
to
co st,
the
tra v e lin g
v is it
his
m inim izes
req u ired to
by a m a t r i x
fin d
or
a
m us t
o n c e a nd o n l y o n c e a nd r e t u r n
do
lo c a tio n
tim e s ,
[16]
(tsp)
corresponds
c itie s
one
problem
c itie s
o rig in ,
c ity
approach
point o f
the
to ta l
e tc .).
d istan ce
ea c h
Each
between
change over from
g en e ra l,
distan ces ,
S having a
size
of
n by
X having a
s ize
of
n by
10
X 1-k = 0 o r
23
and
x ik
I
I
“
v
- - * * ri ?
k — I p2 ,
• • • pn p
v
2
k
—
I p2 p
• • • pn p
m in im ize
where
S jk = the tr a v e lin g
tim e
from
lo c a tio n
i to
lo c a tio n
k
and
X 1- k = a d e c i s i o n
Up
to
th is
a llo c a tio n
however,
could
variab le
p o in t
the
problem .
there
return
problem
For
was
to
rep re s e n tin g a
an
its
the
is
s im ila r
tra v e lin g
ad d itio n a l
s ta rtin g
lo c a tio n
to
the
resource
salesman
problem ,
re s tra in t
p o in t
u n til
that
a ll
n
no
tour
c itie s .h a d
been v i s i t e d .
M u ltita s k
R eal-Tim e
Pr o g ra m m i n g
■
R e a I Ti m e
The t e r m
(and
other)
re s u lts
w orld
are
"real
system s,
but
demanded
by
o u tsid e
immense,
tim e"
the
covers
a
shares
the
d e a d lin es
system.
fro m m icroseconds t o
W right
[9]
d efin ed
real
The
range
common
imposed
range
years
tim e
wide
of
of
c o m pu te r
feature
by
the
tim e
that
"re a l"
scales
is
[17].
or
on
lin e
as
fo llo w s:
"An o n - l i n e
computer
user or
process t h a t
to
user
the
where
in to
.
.
.
.
.
they
the
or
are
system a c c e p t s
creates
process
that
lo c a te d ".
fo llo w in g
fiv e
it
input d i r e c t l y
and r e t u r n s
req u ires
W right
output d i r e c t l y
it,
d ivid ed
from t h e
regardless
o n -lin e
of
s y s te m s
m ajor c a t e g o r ie s :
p r o c e s s c o n t r o l systems
d a t a a c q u i s i t i o n systems
b u s i n e s s - o r i e n t e d i n f o r m a t i o n systems
s c i e n t i f i c / e n g i n e e r i n g t i m e s h a r i n g sys te ms
re m o te b a tc h systems
Al I
of
these
com puter.
sm all
systems
W right
sim p!e s t
sin g le
m onitor
the
w ith
id e n tifie d
the
fiv e
o perating
system
o perating
of
s y s te m s
a
fo r
com puters:
term in al
of
work
user
start
set
process
a
in itia liz a tio n
program,
programs,
i s us ed b y o n l y t h e
m achines.
or
This
also
type
allo w s
a lte r
memory
l o a d o r dump p r o g r a m s .
th is
as w e l l
user
a nd
d isp lay
m onito r:
and c o n t r o l
system
th is
in te rru p tio n s
b r e a k p o i n t s a nd
in p u t/o u tp u t
its e lf,
m onitor:
a p p I i c a t i on d e d i c a t e d
handles
to
lo c a tio n s ,
in te rfa c e
handles
its
own
as com m unication between
programs
and
a
sim ple
I/O
subsystem.
.
system
keyboard
which
m onito r:
req u ires
m agnetic tapes o r
an
I/O
m onitor
some
d is c s .
plus
th is
It
ro u tin e s
is
form
a
of
sin g le-u ser
bulk
includes a l l
to
a c c e p t and
storage
o perating
such
as
the f a c i l i t i e s
of
act
on
console
.12
commands
as
we I I
as
the
a b iIity
to
m odify
I/O
assignm ents
dynam ical I y .
• background /foreground m o n ito r:
ex e c u tiv e
th at
m onitor
and
shared
or
includes
also
the
co n tro ls
means t h a t
the
in t h e
operator
processing
program runs w it h o u t
being
m ultiprogram m in g
fa c ilitie s
of
ad d itio n a l
the
w h ile
in
in t h e
e x e c u tiv e :
seen,
the
keyboard
a
tim e -
The
term
running,
by
"background", th e
screen.
th is
concurrent
program
in
en viro n m en t.
shown
for
the
I/O
includes
b ac kg ro u n d /fo reg ro u n d
c a p a b ility
hundred fo re g ro u n d
of
and
a p r o g r a m can be
screen,
is a dual
fa c ilitie s
in te rru p t-d riv e n
"foreground"
.
a ll
th is
a ll
m onitor
e xe cu tio n
of
the
w ith
several
jobs.
M u ltita s k !n o
When
once,
several
it
is
independent
the
same
independent
convenient
program.
processes
to
h an dle
When a I I
computer
the
(pro cesso r),
are
each
one
programs
the
going
are
on
w ith
running
re s u lt
is
at
an
on
c alled
m u ltita s k in g .
M u ltita s k in g
o p e ra tin g
task
or
system ,
process,
com puter.
This
processor
"state "
is
done v i a
whose j o b
appear
for
is t o
to
tric k
one
a piece o f softw are
be
is
make ea c h p r o g r a m ,
running
on
accom plished
task,
c alled
a nd
its
by
loading
own
c a lle d
separate
saving
the
an
state
the
of
13
another
task.
o p e ra tin g
th ey
There
system s,
p rovide
is
and p a s s i n g
intended
for
real
data
tim e
on
d iffe re n t
o p e ra tio n
on
a
set
a m u lti-ta s k
[14]
se g me nt
resources
the
kinds
them.
O p eratin g
tend
to
of
fa c ilitie s
syn ch ro n izin g
th e ir
sys te ms
p rovide
a ll
tasks
data,
of
data.
should
a task
sm allest
d e v ice s,
CPU,
a
set
a
of
id e n tic a l
ea c h
operatin g
program
the
or
are
Figure
d es crib e d
or
(I/O
ways o f o r g a n i z i n g
re a l-tim e
An a p p l i c a t i o n
program
tasks,
between
e ith e r
o p e ra tin g
W hite
d iffe re n t
accordin g t o
a p p lic a tio n s
two m a jo r
m u ltita s k in g :
tasks.
of
w id e
fa c ilitie s .
There a r e
fo r
range
sch eduling
actio n s,
for
vast
which d i f f e r
for
range o f these
a
task
2
pr ogr ams
do es
shows
a
tasks
a
sin g le
memory map
system.
be d e f i n e d
as
a
in
terms
lo g ic a lly
program
memory,
to
complete
which
e tc .)
of
sy s te m
m ight
be
only
one
i.e .
be
a I Io catb d .
In
task
a
m u ltita s k in g ,
a c tu a lly
e xe cu tin g ,
at
W righ t
c o u l d be
in:
ca n
be
a given
[9]
sin g le-p ro cesso r
in
control
of
system ,
the
CPU,
in s ta n t.
estab lish ed
exe c u tin g ,
ready,
four
states
su s pen de d
th at
a nd
the
tasks
in a c tiv e .
Task S ta te s
EXECUTING
highest
(or
p rio rity
task
ru n n in g ):
d eterm in ed
The
by
exe cu tin g
a
CPU t h a t
task
is
is
the
"ready"
J
14
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F ig u re
2.
M e m o ry
M ap
fo r
M u ltita s k in g
R e a l-T im e
O p e ra tio n
15
to
run.
READY
th at
(or
one o r
levels
ac tiv e
more
d ic ta te
some
real
task
tim e
may
th ey
resid e
should
event
or
th is
u n til
ha v e
ro u tin e
th e ir
p ro b a b ility
con trol
The t a s k
states
of
the
has be en h a l t e d
communication
from
an
CPU.
u n til
exe cu tin g
occurs.
p o te n tia l Iy
(or
introduced
that
it
has
from th e
tasks
Every
a
as
one
to
jobs
exe cu tive
(or
m or e)
op e ra tin g
4
and 5
has
be e x e c u t e d .
a nd
program
system
system ,
has
in F ig u r e
its
W right
a CPU t o
them
is
show a
or
remov ed
for
. a
ah
operatin g
own
structure.
[9]
d es crib e d
e x e c u tiv e .
execute
w a itin g
operatin g
b ee n
yet
3.
under
has
hot
paths
m u ltita skin g
allo w s
of
and
runs
though
(s c h e d u le r),
tra n s itio n
shown
tim e
even
e ith e r
system
to
be h a n d l e d by t h e
Figures
memory,
assignm ent
o p e ra tin g
real
task,
an
o p e ra tin g
a
The
o p e ra tin g
states
ea c h
m u ltita skin g
output)
the
environm ent a r e
re a l-tim e
w h ile
main
a p p lic a tio n
and
structure
in
com pleted
m u ltita s k in g
system ,
to
qu eu e o f
The
dorm ant):
re s id in g
been
task
in s ta lle d ):
(or b lo c k e d ):
INACTIVE
For
tasks
that
SUSPENDED
or
for
other
the
The
tasks
input
(or
system.
comparison between a s i n g l e
system and a m u l t i t a s k
op e ra tin g
system.
EXECUTING STATE
(ONE TASK ONLY)
GAINS
SCHEDULER
READY STATE
TASK
TASK
(MANY TASKS)
WAirwe
TASK
INACTIVE STATE
SUSPENDED STATE
TASK KLLED
(MANY TASKS)
<3
(MANY TASKS)
WHLE WAmne
F ig u re
3.
Task
S tates
and
T ra n s itio n
P a th s
WRITE
READ
PRINT
CPU ACT.
DEVICE ACT.
PRINT
F ig u re
4.
S in g le
task
O p e ra tin g
System
READ
WRITE
PRINT
PRINT
DEVICE ACT.
F ig u re
5.
M u ltita s k
CPU ACT.
O p e ra tin g
System
19
In
tim e
summary,
system
the
b asic
c o m po ne nt s
of
a m u ltita s k
re a l­
include:
. The o p e r a t i n g s y s t e m , i n c l u d i n g an i n t e r r u p t h a n d l e r o r
p rio rity
control
program,
a
scheduler,
a
set
of
I/O
r o u t i n e s , and i n some s y s t e m s , memory a l l o c a t i o n and f i l e
h an d lin g
ro u tin e s .
Each
of
these
concepts
is
b rie fly
d e s c rib e d below .
. The u s e r o r a p p l i c a t i o n - o r i e n t e d
. S y s te m c a l l s ,
P rio r itv
m ac ro commands.
Control
The
m ai n
a ll
the
batch
system
system,
in p u t/o u tp u t,
defin ed ,
respond
whereas
to
events.
a
[17]
between
is
in
the
a
series
program
re a l-tim e
of
d evices
ca n
p rio rity
p rio rity
be
d ev ice s
ones,
emergency a la r m
S cheduler
The
an d
w aits
p rocessing
the
for
is w ell
program
must
un related
is accom plished
is through
Each r o u t i n e
F a c ilitie s
by
p a rtic u la r,
c o n d itio n s
Program
b as ic
in
system
fre q u e n tly
requests
in te rru p ted
a nd
and
in te rru p ts
so t h a t
granted..
batch
in itia te s
system,
random
ro u tin e s .
hardware
p rio ritie s
sim ple
an d ea c h s t a g e o f d a t a
softw are
acknowledges
the
summarized below :
The means b y w h i c h t h i s
hardware o r
system
Program
d iffe re n c e
an d a r e a l - t i m e
In
tasks.
such a s
and
for
must
responds t o
c o n tro ls
CPU
requests
to
in te rn a l
serv ic e
e x is t
to
from
respond
pow erfaiI
and
by
I/O
ha v e
low
h ig h e r-
q u ickly
to
in te rru p ts.
[17]
fu n c tio n
of
the
scheduler
is
to
determ in e
20
w hich t a s k
an d t h e n
the
(user
to
ra is e
scheduler
each t a s k
in
p rio rity ,
the
the
the
lin k
which
"ready"
status
to
any
state.
In
of
task
of
the
ready
that
to
m ac ro c a l l
or
scheduler
a c tiv e
the
is
in a c tiv e
fo r
in p u t
fo r
or
system
in te rru p t
a llo c a te d
state
output
to
of
resources
h an d lin g
ro u tin e
in
the
exe cu tin g
know t h e
three
by
ways:
and
blocks
restore
the
its
task
data
Tasks
in
know
ready
to
must
For
re g is te rs ,
executed.
e q u i v a l e n t assem bly
from t h e
mu st
to
raised
scheduler
being
uses
a d d itio n ,
queue.
in t h e t a s k
and
being
sch eduler
task
CPU
p rio rity
In
"ready"
n e x t-h ig h e r-p rio rity
the
ro u tin e
the
the
highest
state.
task
the
task
preprogrammed
req u estin g
the
state
a ll
has
exe cu tin g
m ain ta in s
a d d itio n ,
introduced
request
the
m a in ta in
scheduler
of
the
to
system t a s k )
T h e s e h a v e be en d e f i n e d
the
status
the
or
it
mu st
w ords
queue.
task
p rio rity
may
a
system
l a n g u a g e m ac r o command
i n memory)
ready s t a t e ;
info rm atio n
(CPU)
such
when
a
[20]
to
be
ra is e
(a
a
by a u s e r t a s k
(d ata),
as
d e v ic e
o ne
or
by
made
by
causes
an
in te rru p t.
ReaI -Tim e
The
ro u tin e
M acr o Commands
system
that
is
m ac r o
[17]
commands
a llo c a te d
is
a
preprogrammed
general
i n one a d d r e s s o f t h e memory and
21
may be g r o u p e d
.
•
•
.
.
.
•
•
in to
eig h t
categ o ries:
I n p u t / O u t p u t commands
T a s k c r e a t i o n a n d d e l e t i o n commands
I n t e r t a s k c o m m u n i c a t i o n commands
O v e r l a y a nd s p e c i a l q u e u i n g commands
C l o c k commands
T a s k i d e n t i f i c a t i o n commands
T a s k / o p e r a t o r c o m m u n i c a t i o n commands
O p e r a t o r / t a s k i n t e r a c t i o n commands
MI CROBOT T e a c h M o v e r
The
TeachMover
c o n tro lle d ,
an u n u s u a l
The
s ix -jo in te d
arm
is
m echanical
arm
ca n . be
a
m icro p ro cesso r-
arm d e s i g n e d
com bination o f d e x t e r i t y
TeachMover
fo llo w in g
robot
and
to
low c o s t
used
in
provide
[15].
e ith e r
of""the
modes:
1) T e a c h c o n t r o l Mode,
in which t h e h a n d -h e ld te a c h
c o n t r o l ca n be u se d t o t e a c h , e d i t , and r u n m a n i p u l a t i o n
programs.
2 ) S e r i a l I n t e r f a c e Mode, i n w h i c h t h e T e a c h M o v e r arm
can be c o n t r o l l e d by a h o s t c o m p u t e r o r a c o m p u t e r t e r m i n a l
via
one
or
two
b u ilt-in
RS-232
asynchronous
s e ria l
com m unications l i n e s .
The
teach
rear
m icroprocessor
con trol
of
the
lo cated a t
to
the
sh aft
is
c a b l e and t h e
base.
the
base
six
c a lle d
jo in ts .
The
is
hous ed
D.C.
two
a
hollo w
the
sh aft
base
R S -2 3 2 C
p ow er
the
base.
connectors
are
The body s w i v e l s
attached
jo in t.
a r e m ou nt ed on t h e
The
in
The
po w er c o r d e x t e n d f r o m t h e
re a r o f the base.
on
gear ass em b lies
the
card
w ires
S ix
to
the
stepper
re la tiv e
base.
This
motors
w ith
body and c o n t r o l
for
the
also
motors
ea c h o f
pass
from
22
the
computer c a rd
body.
This
system.
a nd
arm
forearm
by
the
is
to the
another
hand,
w ris t
jo in ts
to
,a
d ire c t
the
a
forearm
known
c a lle d
jo in ts .
con trol
to the
bod y on
sh aft
also
a hollo w s h a ft t o
attach ed
S im ila rly ,
by two
w ris t
arm
re la tiv e
jo in t.
F in a lly ,
the
upper
ro tates
upper
base th ro u g h
arrangem ent pro vid es
The
sh o u ld e r
in t h e
the
The T e a c h M o v e r ar m has a
as
c alled
is
motors
from 2 t o
inches
7
per
in ch es .
second,
There
mo st
many
im p o rtan t
resources
For a
that
fin ite
in v e rs e ly
a ll
are
the
is
is ,
set
p o s sib le
to
to
of
tasks,
p ro p o rtio n al
to
tasks.
This
tim e
maximum
flo w
tim e
of
resource
u tiliz a tio n
tasks
so as t o
is
inches.
the
the
the
is
load.
o b je c tiv e s .
u tiliz a tio n
resource
u tiliz a tio n
tim e
referred
schedule.
improved
reduce makespan.
The
a p a rtia l
The maximum spe ed
sch eduling
the
is
0.011
Ru!es
increase
reduce
operate
one
d e p e n d i n g upon t h e
ScheduIin g
the
pound
hand can be p o s i t i o n e d a n y w h e r e w i t h i n
17.5
to
of
end o f t h e
of
the
hand.
extended,
a radius
the
o f the
when f u l l y
sphere w ith
of
bod y
jo in t.
attached
cap acity
a nd a r e s o l u t i o n
to
elbow
and r o l l
liftin g
the
attached
separate
p itc h
topo f
the
g rip p e r,
Two
c a b le -d riv e
sh aft
is
the
of
req u ired
to
In
by
id le
as
a
The
of
tim e
the
[18].
resources
to
the
accom plish
makespan
fin ite
sch eduling
is
or
problem ,
the
set
of
23
Another
in
process
im portant
inventory;
number o f t a s k s
busy w it h
fu n c tio n
w a itin g
o f ta rd in e s s .
h av e
is
fin is h e d
maximum
th at
is ,
due
for
is
reduce
the
sch eduling
is
to
reduce
the
average
resources
to
I n many s i t u a t i o n s ,
dates
a fte r
ta rd in e s s ,
are
dr
and
a
that
on e
p en alty
date.
can
reduce
reduce
some o r
is
some
a ll
in cu rred
One
ca n
the
number
of
if
reduce
of
a
the
tasks
are ta rd y .
There
order
to
are
numerous
ach ieve
Conway,
the
M ax w el l
sch eduling
o b jectives
and
M ille r
and
. e x p e rim e n ta lly
processing
ru le
( SPT )
various
tim e
m anufacturing
proved
to
be
p ro ce ssed n jobs
m u ltip le
the
using
processors
perform ance c r i t e r i a
or
des crib e d
above
the
perform er
e ith e r
s in g le
(m achines)
[18].
shortest
flo w
tim e
E s p e c ia lly ,
in
job
processor
on t h e b a s i s
such as mean f l o w t i m e ,
in
proved
the
mean
structures.
best
ru les
however,
that
m in im ized
system
algorithm s
[16],
m athem atical Iy
ru le
to
i n a qu eu e w h i l e
o b je c tiv e
tasks
task
that
o b je c tiv e
other ta s k s .
One f i n a l
the
sch eduling
shops
in
th is
that
(machine)
or
o f a v a rie ty
of
mean
la te n e s s ,
a n d mean t a r d i n e s s .
S h ortest
tasks
P r o c e s s i nq
on a
sequencing
sin g le
the
Ti m e
(SPT)
processor,
shortest
[18]
the
When
mean f l o w
processing
tim e
is
(SPT)
sch eduling
m in im ized
task
n
by
firs t.
24
th at
is.
tI
When
late n ess
<= t 2
sch ed u lin g
is
n tasks
tim e
s c h ed u lin g
task
t I
firs t,
=>
fo llo w in g
a p p lic a tio n
c e ll
sin g le
n
[18]
o f the
s i mu I a t o r .
tZ => t S
chapter
previous
mean
(LPT)
tasks
that
processor,
in t h e o r d e r o f
on
a
sin g le
is m a x im ize d by s e q u e n c in g t h e
(LPT)
The
a
<= t n
<= t g
L o n g e s t P r o c e s s i n g T im e
mean f l o w
on
m i n i m i z e d by s e q u e n c i n g
t J <= t 2
When
<= t ,
<= t g
processor,
the
lo n g es t processing
is
>=
w ill
concept
t n
present
a
in to a p h y sic al
d e ta ile d
ro b o tic
25
3
CHAPTER
METHOD OF ANALYSIS
D e s c r i P t f on o f t h e
The
ro b o tic
cell
c o n sis ted o f th e
2.
One c e n t r a l
com po ne nt s
3.
Two i d e n t i c a l
co m po nen ts
4.
One Z e n i t h
ports.
dim ensions
was
of
from
I
bins
b u ilt
b u ilt
c o m p u t e r model
the
made o f
numbe re d
parts
blue
to
4
th is
was
board
a
research
mimic
6.81
m achinab le
wa x.
had
w ith
F is c h e rte c h n ik
F is c h e rte c h n ik
two RS-232
c e ll.
were
a nd
w ith
ZW -241-82 w ith
layout o f th e
assem bled
fo r
arms
assem bly a r e a
6 shows a
part
used
elem ents:
Two T e a c h M o v e r r o b o t i c
The
it
fo llo w in g
was
1.
Figure
The
th at
R o b o t i c Ce I I
of
a
c irc u it
X 2.81
X
.5
board.
in.
The m i c r o c h i p s
d iffe re n t
dim ensions.
and
were
The
d im e n s io n s were as f o l l o w s :
I .
2.
3.
4.
chip
chi p
ch i p
chi p
# I
# 2
# 3
# 4
7
shows
a
F igure
lo ca tio n
2.87
2.25
1.31
I . 00
layout
o f th e m ic ro ch ip s.
of
the
X
X
X
X
I
I
I
I
X
X
X
X
I
I
I
I
c irc u it
.
.
.
.
18
18
18
18
in.
in.
in.
in.
board
w ith
the
BIN CELL 1
BIN CELL 2
4
ROBOT
/ASSEMBLY AREA^
1
ROBOT B
STORAGE FOR UNA& BOARDS
Figure 6.
Layout of the Robotic Ce I I
F ig u re
7.
Layout o f th e
C irc u it
Bo ar d
28
The
assem bly
process
started
b o a r d on t h e a s s e m b l y a r e a . A f t e r
chips
w e r e be p l a c e d
was r e m o v e d .
A ll
in
by
the
a
c irc u it
b o a r d was p l a c e d ,
random o r d e r
these o perations
p lacin g
and f i n a l l y
the
the
board
formed a c y c l e .
Assemblv O p e r a t ions
Assembly Sequences
A
round -robin
o p e ra tio n
of
the
m et ho d
ro b o tic
s e q u e n c e was d e t e r m i n e d ,
number
of
cyc les .
The
board rem ained f i x e d
The
assem bly
d iv id e d
in to
two
board
w ith
one
parts
(one b in
other
for
As
unassembled
the
for
c irc u it
the
board.
fo r
f i xed.
o p e ra tio n ,
rem oving
cen tral
assem bly
repeated
for
the
on
the
m icro ch ip s
e va lu a ted
one
set
firs t
the
of
were
c irc u it
bins
for
a s s e m b l y a r e a , and t h e
board w it h
cen tral
the
was
assem bling
two ro b o t arm s,
assem bly a r e a .
o peration
o peration
movement o f a T e a c h M o v e r arm an d f i x e d
la s t
c e rta in
were
using
This
continuous
sequences.
c irc u it
and t h e
the
a
the
th at
arm,
a nd t h e
before,
of
the
one
ro b o tic
for
Once
sequence
a ll
groups:
c e lls
stated
c e ll.
sequences
c e ll)
ch o se n
p o s itio n s
assem bling th e
u s in g two b in
was
fo r
fin is h e d
was
placin g
was t h e
in itia l
every cy c le .
board,
an
was
The
also
29
The
assem bly
o perations
of
a
c irc u it
board
were
s u m m a r i z e d as f o l l o w s :
OPERATION No.
I
DESCRIPTION ’
'
Pick
the
c irc u it
board
from
the
s t o r a g e b i n an d p l a c e i t i n t h e c e n t r a l
assem bly a r e a .
(
2,
3,
4,
5
P ic k randomly any a v a i l a b l e c h ip
among
four
ch ip s from a b in c e l l
and
place
the
s e l e c t e d c h i p on a f i x e d
lo catio n
o f th e board.
This o p e ra tio n w i l l
be
repeated
u n til
a ll
four
chips
are
assembled f o r t h e f i n i s h e d b o a rd .
6
To
m in im ize
approach
as
n
P ick th e f in is h e d
a s s e m b l y , remove
f r o m t h e a s s e m b l y a r e a , and p l a c e
in f i n i s h e d p ro d u c t a r e a .
was a d a p t e d
b in -c e lls
number
of
lo catio n
the
had
its
(between
distances
a
dependent
4)
bin
on
because
n
lo catio n s
was
sin g le
(or
th ey
part
were
to
on
Branch
d efin e
an
by
2
Bound
* n 'c itie s '
assem bly
two
assem bly
and
area.
because
lo c a tio n
The
a
an d
bin
both
e n tity .
travel
lo c a tio n
the
the
m u ltip lie d
correspondent
were c o n s id e r e d as
The
and m o d i f i e d
and
'c itie s '
makespan,
it
it
and.
tim es)
an
assem bly
(m icro ch ip )
located
at
between
a
the
'c itie s '
lo c a tio n )
type
c e rta in
(I,
were
2,
3
or
place
in
the
assem bly.
Tab le
th is
I
research.
presents
the
assem bly
m et ho ds
e v a lu a t e d , in
30
T ab le
I.
Assembly
M ethods.
METHOD
DESCRIPTION
Group
I I -
a
b
assem bIe t h e board w it h
assem bIe t h e board w i t h
Group
I I -
a
I I -
b
assembIe th e board w it h both
in s e q u e n t ia l o p e r a t i o n
assem ble t h e board w i t h both
w i t h m u l t i t a s k i n g programming
B r a n c h a nd
Each
Branch
Bound t r e e s
a nd
com binations
of
Bound
the
a
c irc u it
d iffe re n t
operatio n s
O p eratio n
tra v e lin g
w ith
p lacin g
the
to
the
part
m ic ro ch ip
3)
the
an d
in th e
O p eratio n
assem bly
produ ct,
fo r
b in ,
6:
tra v e lin g
d es crib e d
below .
op e ra tio n
home
hand,
to
the
c irc u it
board.
it
op e ra tio n
back
in
to
e m pt y
the
the
the
fo r
from
the
picking
to
of
6
one f o r
board
picking
and
hand).
a ls o
had t w o
assem bly
area
a nd p l a c i n g
the
c o n s i s t e d o f movements f r o m
hand,
p ickin g
fin is h e d
product
home
us ed
c irc u it
(loaded
robots
po s sib le
were
fo r
robots
group.
c o n s is te d
other
e m pt y
other
w ith
a ll
These o p e r a t i o n s
tra v e lin g
each
had t w o m o v em e nt s :
a nd
and t h e
area
fo r
th at
sequence
p o s itio n
an d 5 :
This
p lacin g
sequences
in t h e assem bly a r e a
2 ,3 ,4
o ne
covered
A
empty
board
O p eratio n s
movements:
the
an
tree
board.
This
from
storage
2)
I:
developed
d iffe re n t
assem ble
1)
were
Rob ot A
Robot B
p o s itio n .
the
fin is h e d
storage
F ig u re
8
area,
shows
OPERATION I
PLACE THE
C. BOARD
OPERATION 2
OPERATION 3
OPERATION 4
OPERATION 5
PLACE
PLACE
PLACE
PLACE
CHIP # 1
CHP #2
CHIP # 3
CHIP # 4
OPERATION 6
REMOVE
F. PRODUCT
Figure 8.
Operations Sequence
32
the
assem bly o p e r a t i o n s .
F ig u re
G ro up
I
Bound
tree
the
-
done,
It
fo r
was
the
an
there
5).
the
to
next
o p e ra tio n .
sequences,
p o s sib le
paths
o p e ra tio n
p o s s ib le
the
should
be
com binations
B r a n c h a nd
that
fo llo w
Bound t r e e s
the
are
0 as
I,
was
firs t
(O p eratio n s
acco rd in g
part
I
was
each
one
2,
3,
to
4
the
The b o u n d i n g r u l e
re s tric tio n
6.
and
fo llo w ,
rem ained.
O p eratio n
Br a n c h
O p eratio n
to
branched
the
for
O p eratio n
A fter
paths
tree
O p eratio n
is,
assem bled
were
w ith
shows
th at
board.
Bound
general
The
a m icro chip
e s ta b lis h e d
a
fig u re
com bination o f m ic ro ch ip s t h a t
was
as
This
four
These
to
and
A.
unassembled
were
Branch
referred
robot
a ll
corresponding
an d
is
p o s itio n .
for
placed
illu s tra te s
a.
home
fix e d
9
th at
Figure
o peration
illu s tra te d
the
10
2.
last
shows
a ll
The r e s t o f
in
the
Appendix
A.
T ab le
firs t
2 shows t h e
robot
( robot
The t r a v e l i n g
p o s itio n s
tim e
o f the
A)
robots.
to
th e average o f te n
The
values
there
are
req u ired
The
were
for
a
the
o b s e rv a tio n s
measured
the
w ith
exp erim ental
robot
to
robot
in T a b le
for
the
(robot
B ).
because th e
2
correspond
was
stopwatch.
from
respect
ea c h t r a v e l i n g
measurements'
a
for
sym m etric w i t h
errors
travel
seconds,
was d i f f e r e n t
presented
from
in
second
were n o t
values
o btained
some
for
m icro chips
the
varian ce
and
tim e ,
o f both ro b o ts
to
The
tra v e lin g
in
a
the
m in im al.
Therefore,
am ou n t
p o in t
tim e.
to
of
the
tim e
other
HOvE POSTON
PART
CjJ
CU
CHP #1
Figure 9.
General Branch and Bound Tree for Robot A
CHP #1
CHP # 2
CHP # 4
CH= # 2
CHP # 4
CHP # 2
CHP # 3
w
CHP # 4
CHP # 3
CHP # 3
F. B O A P D
F. BOARD
F. BOARD
Figure 10.
Branch and Bound Tree for Chip #1 Robot A
35
Tab le
2.
T ra v e lin g
Times f o r
Rob ot A and Robot B
TRAVELING TIME
ROBOT A
PO SI TI ON
0
I
2
3
4
0
30.04
21.97
17.24
14.20
13.81
-
1
-
24.90
19.38
17.17
15.87
-
20.48
1 7. 61
16.26
22.78
5
6
2
4.65
3
6.50
-
24.38
-
18.64
17.29
2 6 . 13
4
4.71
-
21.59
18.98
-
15.15
25.71
5
3.82
-
21.30
19.01
15.88
_
23.37
6
10.5
ROBOT B
PO SI TI ON
0
I
2
3
4
5
6
0
-
27.01
21.20
19.24
16. 12
14.00
-
I
-
-
22.36
20.34
18. 19
17.10
-
2
5.67
-
20.94
18.40
15.79
27.92
3
3.41
-
23.29
-
17.74
15.85
23.64
4
3.85
-
22.23
19.66
-
14.94
23.81
5
5.04
-
22.46
20.27
17.49
-
24.39
6
9.73
-L
-
36
p o in t.
It
a ffe c t
the
was assumed t h a t
re s u lts
The
second
ro b o tic
arms,
method,
was
the
by t h e
robots,
the
p revious
for
program.
s im u lta n e o u s ly
u se d
both
This
approach
the
i . e .,
the
in to
every
was
two
errors
w o u ld
not
board
w ith
two
one
for
approaches:
o perations
o p eratio n
com pletely
board
w ith
a
a llo w e d
the
same
board,
at
the
same
tim e
a ll
the
should
done,
perform ed
w a it
u n til
the
other
and
m u ltita s k
both
w ith
in tegrated
the
seq u en tia l
program
hand s
or a cen tral
For
w ith
o p e ra tio n
This
assem bling
d ivid ed
board
assem bling
amount o f
s ig n ific a n tly .
assem bling
two
the
robots
ju s t
to
execution
as
if
assem ble
a c tiv itie s
to
a
a
in to
work
worker
produ ct.
one
b rain
com puter.
the
firs t
m et ho d
in
the
same B r a n c h an d Bound t r e e s
sec ond
that
G ro up
w e r e u se d
(Table
in th e
I),
firs t
G rou p w i I I be u s e d .
Branch
second
an d
m et ho d
a c tiv itie s
acco rd in g
of
to
in
the
th e ir
the
an
ro b o tic
of
In
arm s.
W ith
but
develo ped
(Group
were
11-b ).
grouped
in t h e
for
in to
tre e.
the
The
p airs
Figure
11
B r a n c h and Bound t r e e .
the
board
was f i x e d ,
arms
sequence
th is
also
Group,
ro b o tic
m u ltita skin g
b eg inning
were
second
assem bly
unassembled
assem bly a r e a
the
two
home p o s i t i o n .
which
trees
the
the
shows a g e n e r a l
At
Bound
cyc le
case,
was
it
th is
both
the
robots
firs t
loaded
to
was p e r f o r m e d
s itu a tio n ,
were
at
operatio n
by
the
by
the
cen tral
e ith e r
of
number
of
HOME
POSITION
BOARD &
BOARD &
CHIP # 2
BOARD &
CHP # 3
BOARD &
CHP # 4
u>
>4
CHP #1
& BOARD
F igure I I
CHP # 2
& BOARD
CHP # 3
& BOARD
CHP # 4
& BOARD
General Multitask Branch and Bound Tree
38
com binations
For
exam ple,
placed th e
chip
the
along
I.
w ith
the
in
was
firs t
com bination
board
It
the
the
operation
(1 ,2 )
m ean t
assem bly a r e a ,
assumed
that
the
was
increased.
th at
and r o b o t
ro b o tic
arm s
robot
B
A
placed
started
at
same t i m e .
The
la rg e s t
o perations
c o m bi ne d
was
tra v e lin g
selected
task
to
s im p lific a tio n
assem bly t im e
solve
allo w ed
in a
T h e r e was a
a nd
the
the
r o b o t arms
in t h e
found t h e o t h e r
of
was
enough
the
space
and
fo r
tim e
Bound
fin d
for
tree.
the
the
This
shortest
environm ent.
between
ro b o tic
robot
the
of
a n a ly tic a l
the
arms
the
The
delayed
approached
the
other
there
w aited
robot
an
area,
same a r e a .
approached
and
of
in terferen ce
m icro ch ip s,
robots
resu lts
in te rfe re n c e
occupying t h e
of
when b o t h
t he m was
o f two r o b o t
tra v e lin g
to
because
assem bly
s itu a tio n s
and one o f
user
a p a ir
same a s s e m b l y a r e a .
and t h e n
area
Br a n c h
the
resu lts
when o ne
several
the
the
m u ltita sk
occurred
the
as
d iffe re n c e
ph y sic al
During
tim e w it h in
the
u n til
were
same
there
to
perform
a
a lso
a p p lie d
to
Bound
trees
for
research
were
predeterm ined o p e ra tio n .
The t r a v e l i n g
tim es
th is
approach.
The
th is
method a r e
shown
shown
d e ta ile d
in t h e
in
Tab le
Branch
2
and
A p p e n d i x B.
Assembly S cheduI i n g
The
assem bly
schedules
us ed
in
th is
39
the
shortest
processing
to ta l
ru le
processing
tim e
(LPT).
assem bly t im e
The
sequences
and
the
LPT
tim e
(SPT),
The o b j e c t i v e
generated
of
were
the
was t o
longest
determ in e
the
by ea c h m e t h o d .
op e ra tio n
ru le
and
based
on
determ in ed
e ith e r
the
the
Branch
from
SPT
and
Bound t r e e s .
M u ltita s k in g
The
th e s is
m u ltita sk
d id
not
because t h e
the
th at
an
the
program
a
system
m u ltita sk
of
was
developed
'ta s k s '
The
m u ltita s k
a
o ne
task
to
exe cu tin g
w ith in
a
be
executed.
sequence.
The
BASIC
languages:
That
manage
program
com pleted
Figure
a nd
12
in itia l
the
prepared
for
was
independent
b as is
executable
file
to
c a ll
the
loading
The p r o g r a m s w e r e
on e was t h e
Each o f t h e a s s e m b l y o p e r a t i o n s
assem bly
decided
ARMBASI C f o r
r o b o t a r m s , and t h e o t h e r was a BASIC c o m p i l e r .
[19].
the
presents
step
was
m eant
a ll
p red efin ed
programs o f t h e assem bly o p e r a t i o n s .
c o d ed b y t w o
computer
program
system.
to
th is
e x e c u t e d by
This
was
ex e c u tiv e
was t o
be
program
(MS-DOS).
program
fo r
s y s t e m on t h e
ex e c u tiv e
th is
or
w hich
next
that
the o p e ra tin g
o p e ra tin g
o b je c tiv e
sequence.
at
rep lace
as
a c tiv itie s
tim e
program
p r o g r a m was an a p p l i c a t i o n
e x is tin g
c la s s ifie d
the
Program
T u r b o BASIC
were com piled
an
the
o p e ra tio n
i n an
on
the
o f t h e assem bly sequence.
F igure
13
presents
a
flo w c h a rt
of
the
exe cu tive
OPERATING
SYSTEM
ROBOT A
UPLOADING
ROUTINE
ROBOT A
UPLOADING
ROUTINE
OPERATIONS
EXECUTING
OPERATIONS
PROGRAM
Figure 12.
Program Executing Sequence
EXECUTIVE
PROGRAM
TIME
SCHEDULER
DATA
CONTROLLER
ROUTINE
FILES
Figure
ROBOT A
ROBOT B
OPERATIONS
OPERATIONS
13.
M u ltita s k
E x e c u t i v e P r o g ra m
42
program.
set
of
The
data
program
file s
co n sis ted
th at
of
con tained
four
the
subroutines
info rm atio n
an d
fo r
a
the
assem bly o p e r a t i o n s .
The s u b r o u t i n e s
a nd t h e i r
d es c rip tio n s
a r e as f o l l o w s :
E x e c u t i ve P r o g r a m : T h i s was t h e m ai n r o u t i n e t h a t c o n t r o l s
an d s e t s t h e e n t r y o f t h e r e s t o f t h e s u b r o u t i n e s . I t was
co d e d i n T u r b o B a s i c .
T i ms C o n t r o I I e r R o u t i n e : T h i s r o u t i n e k e p t t r a c k o f t h e
t im e t h a t each
assem bly o p e r a t i o n
t a k e s in o rd e r t o
a v o id s p a tia l
c o n f l i c t s o v e r t h e assem bly a r e a .
It
was
c o r r e la te d w ith
t h e assem bly sequence
t h a t was
to
perform ed.
S c h e d u I e r R o u t i n e : T h i s r o u t i n e was i n c h a r g e o f a c t i v a t i n g
t h e t a s k t h a t had t o be p e r f o r m e d a c c o r d i n g t o t h e a s s e m b l y
s e q u e n c e . I t m a i n t a in e d a t a s k queue f o r a l l t h e assem bly
cyc le s .
R o b o t s A & B R o u tT n je s : T h e s e r o u t i n e s w e r e t h e on es t h a t
a c tu a lly
moved
the
robot
arm.
B efore
sending
the
i n s t r u c t i o n t o t h e r o b o t a r m , t h e d a t a f i l e was r e a d f o r
a l l o w i n g t h e p r e v i o u s t a s k t o be c o n t r o l l e d b y t h e CPU.
A f t e r t h e d a t a were r e a d ,
the
scheduler r o u t in e w aited
u n t i l t h e CPU was a v a i l a b l e t o s c h e d u l e t h e t a s k .
Once t h e
t a s k t o o k p o s s e s s i o n o f t h e CPU i t s e n t t h e i n f o r m a t i o n t o
t h e r o b o t arm t o p e r f o r m t h e d e s i r e d o p e r a t i o n .
D a t a FjJ Les : T h e s e f i l e s c o n t a i n e d t h e
t h e s te p p e r motors o f th e ro b o t a rm s .
B efore
the
selected
s p e c if ied.
s im u la tio n
and
the
starte d ,
sequence
in
an
the
current
readings
of
assem bly
ro u tin e
was
scheduler
ro u tin e
was
be
43
Perform ance C r i t e r i a
The r e s u l t s
of
the
of
e ffic ie n c y
e ffe ctive n ess
sequences
of
were
th is
of
the
research
the
ro b o tic
assem bly
selected
were
eva lu a ted
assem bly
ro u tin e s .
based
on
c e ll
The
both
in
terms
and
best
the
assem bly
e ffic ie n c y
an d
e f f e c t i veness.
The e f f i c i e n c y
percentage
in t h e
c e ll,
The
tim e
u tiliz a tio n
in t h i s
case th e
effe ctive n ess
(assem bly)
b as is
of
o f a ro b o tic
tim e ,
to ta l
o f the
control
of
was d e t e r m i n e d by t h e
the
resources
th at
were
robot arm s.
was d e t e r m i n e d
cyc le
o f t h e assem bly r o u t i n e s .
a re s u lt
c e ll
tim e
by t h e
and
id le
These t im e
m et ho d u se d t o
m anufacturing
tim e
on
the
p a ra m e te rs were
con trol
the
c e ll.
44
CHAPTER 4
DATA COLLECTION AND ANALYSIS
Ana I v t i c a I
To
e v a lu a te
tw elve
d iffe re n t
a n a ly tic a l
by
the
3.
ru le ,
These
& B.
ru le ,
c e ll
robot
robot
robot
robot
robot
robot
T ab le
to ta l
LPT
assem bly
the
were
ro b o tic
con sid ered
sequences
and
the
lis te d
c e ll,
were
Branch
in T a b l e
in
selected
and
Bound
3.
A s s e m b l y Se qu enc es
I
2
3
4
5
6
7
8
9
10
I I
12
B.
The
of
sequences
sequences a r e
Sequence
*
perform ance
assem bly
m ethods.
SPT
alg o rith m .
Tab le
the
Resu I t s
c o n fig u ra tio n
robot
robot
robot
robot
robot
robot
A and
A and
A and
A and
A and
A and
A
A
A
B
B
B
robot
robot
robot
robot
robot
robot
B
B
B
B
B
B
ru le*
s i n g l e t a s k SPT
s i n g l e t a s k LPT
s i n g l e t a s k B.& B.
s i n g l e t a s k SPT
s i n g l e t a s k LPT
s i n g l e t a s k B.& B.
s i n g l e t a s k SPT
s i n g l e t a s k LPT
s i n g l e t a s k B.& B.
m u l t i t a s k ing I SPT
m u l t i t a s k ing I LPT
m u l t i t a s k ing I B .& B.
= B r a n c h and Bound
4 shows
com pletio n
the
tim e
tw elve
assem bly
determ in ed
sequences
and
a n a l y t i c a l ly.
th e ir
The
45
Tab le
4.
A n a ly tic a l
R esults
ANALYTICAL RESULTS
ROBOT A OPERATIONS
SEQUENCE
SPT
0 Ct> 1 C > 5 O
LPT
0 O
1 c> 2 O
a & & 0 O
1 0
3 0
a
0
& B.
O
1
C t>
0 Ct> 1 O
0
1 O
5
C t> 4
2 O
2 O
LPT
SNGLE TASK
SNGLE TASK
B & a SNGLE TASK
SPT
MULUTASKNG
LPT
MULTTTASKNG
a & a
MULTITASK
O
3 O
5 O
3 O
4 O
4 0
A O
B
O
A
O
B
O
A O
B
O
A
O
B
O
A O
B
O
A
O
O
B
O O
O O
O O
O O
O O
O O
O O
O O
O O
O O
O O
O O
2 O
5 O
2 0
6 O
6 O
6 O
O
138.43
O
143.08
O
137.46
O
14220
O
137.11
O
135.68
OPERATIONS
O
2 0
4 O
4 O
5 O
3 O
3
ROBOT A AND B
SEQUENCE
SPT
4 O
3 O
5 O
ROBOT B
SEQUENCE
SPT
LPT
ASSEMBLY TtvE (SECJ
5 O
1 o
1 O
2 O
5 O
1 O
5 O
1 O
1 o
2 O
2 O
1 O
6 O
6 O
6 O
OPERATIONS
4
3
4
3
4
O
O
O
O
O
3
3
4
4
O
O
O
O
3 O
4 O
5 O
2 O
O
6
6
5
2
6
2
6
6
5
3
6
O
O
O
O
O
O
O
O
O
O
O
O
O
136.65
146.45
O
O
136.65
O
O
80.13
O
O
87.19
O
O
O
78.74
46
assem bly
sequence
robot
A
was
Bound
a lg o rith m .
c om pa re d
F igure
the
to
14
w ith
the
sequence
Its
138.43
shows
a
lowest
obtained
co m p letio n
se c on ds
G antt
com pletio n
through
tim e
chart
of
the
was
obtained
tim e
B ra n ch
137.46
by
using
the
seconds
SPT
th is
a n a ly tic a l
the
shortest
and
ru le .
assembly
sequence.
The
tim e
the
using
robot
Branch
135.68
and
a ll
10
d iffe re n t
has
been
o p e ra tio n
every
LPT r u l e
the
a
generated
d id .
In t h i s
lo n g es t
ru le
or
resu lts
the
In
d iffe re n t
ru le
a
of
obtained
co m p letio n
13 shown
sequences
th at
through
tim e
was
in Appendix C
were
eva lu a ted
0
having
assem bly r u l e s
but
case o f
two
that
than
O p eratio n
they
d id
The
fix e d
(Table
the
5):
6)
robot
it
co m p letio n
ru le .
the
and t h e
O p eratio n
s o lu tio n
s o lu tio n ,
LPT
SPT r u l e
and
the
th at
SPT
in
ru le
in te rm s o f c o m p le tio n t im e
the
shorter
tra v e lin g
the
through
re s tric tio n
(O peration
sequence.
caused
Its
dem onstrated
In t h e above s o l u t i o n s ,
under
sequence
com pletion
case.
outperform ed th e
a p p lie d
the
a lg o rith m .
T ab les
the
w ith
was a l s o
Bound
s in g le .ro b o t
It
sequence
B
seconds.
present
the
assem bly
was
tim e
LPT r u l e s
and
last
were
fix e d
for
B th is
re s tric tio n
expected.
than
fo llo w
fo llo w in g
o perations
w ere
firs t
the
LPT
6 had t h e
e ith e r
example
th at
The
SPT r u l e
I and O p e r a t i o n
not
[18].
the
SPT
shows
the
d id n 't
fo llo w
SECONDS
0
10
20
30
40
60
60
70
80
90
100
110
120
130
T(pTA ir CpMi^ETjON ]TIMp
F ig u re
14.
A n a l y t i c a l C o m p l e t i o n Ti m e f o r
B r a n c h a nd Bound A l g o r i t h m
Rob ot A w i t h
the
48
Tab le
5.
P e rfo rm a n c e o f t h e Rules
R ule:
SPT
compl e t f o n
Se q u e n c e
( fro m -to)
O
I
5
4
3
2
6
-
The
in
above
SPT
robot
the
B
w ith
under
sequence
shortest
the
and
for
lis te d
a ll
in
the
and
chart
sequence
for
th is
5-6
both
showed
Bound
in
the
LPT
w h ile
the
th at
sequence
tw o
the
78.74
robot
A
and
the
SPT
generated
tim e
Figure
T ab les
Br an ch and
u nd er
obtained
com pletio n
seconds.
to ta l
arms
sequence
The
sequence.
and
robot
seconds.
was
D show t h e
se q u e n c e s
3 - 2 and 2 - 6
sequences
using
136.65
was
performed
sequences.
and
mode
and
Bound a l g o r i t h m .
Appendix
p o s s ib le
4-5
s eq ue nc e u s i n g
exe cu tio n
ru le
se q u e n c e o f
o perations
tim e ,
LPT
worst
the best
Br an ch
assem bly
th is
the
27.01
49.37
70.3 1
88.05
102.99
127.38
137.11
the
the
com putations
com pletio n
Br an ch
shows a G a n t t
fo r
sele c t
i
2
3
4
5
6
0
se q u e n c e
s e q u e n tia l
m u ltita skin g
req u ired
21
to
the
-
that
due t o
selected
a n a ly tic a l
The b e s t
the
and
The SPT r u l e
The
ru le
SPT r u l e
ru le ,
LPT was f o r c e d
shows
comp I e t i on t i me
se q u e n c e
( from -to)
0
I
2
3
4
5
6
example
than the
the
ru le .
t i me
27.01
44. I I
61.60
81.26
104.55
132.47
142.20
i
5
4
3
2
6
O
b etter
LPT
15
14 t h r o u g h
Bound
co m p letio n
trees
tim e
SECONDS
0
IO
20
30
40
50
60
70
BO
90
100
110
120
130
CHIP 1
21197
I 17.61
18.981
F ig u re
15.
C o m pletion
M u ltita s k
AIg o rIth m
T im e u s i n g
Execu tio n
Rob ot A an d Ro bo t B u nd er
w/a
Branch
and
Bound
50
va Iu es.
Un de r
e v a lu a tio n
the
ro b o tic
c e ll,
be
s e le c te d .
could
Branch
of
not
a
s o lu tio n s
are
cannot
sure
ro u tin e s
are
Therefore,
th is
th is
m ake r t h e
w hether
re a lly
The
alg o rith m
research,
arm s w e r e
fo llo w in g
the
ro b o tic
control
for
s im u la tio n
c e ll
The
is
The
d iffic u lt
However,
d e c is io n
system
as
the
m ake r
or
his
best
he
expects.
has been s u g g e s t e d
works
c o n flic ts
p h ysical
resu lts
s eq ue nc e
a n a ly tic a l
alg o rith m s
tool
the
approaches u s u a ll y
sim u la tio n
through
to ta l
problem s.
s o lu tio n .
the
ro u tin e
physical
in v e s tig a te d
Physical
a
physical
in
would
Ho w e v e r ,
best
c o n flic t
s im u la tio n
or the
the
v is u a lize .
his
the
assem bly
A n a ly tic a l
w orking
a ph y sic al
an
on
optim al
to
m in im ized
and
only
of
method
a lg o rith m .
p h ysical
d iffic u lt
research.
how t h e
of
e xe cu tio n
tim es
e x e c u t i o n mode was o b t a i n e d
scheme
ba s e d
co m p letio n
that
Bound
approaches.
the d e c is io n
be
and
in v e s tig a tio n
under a n a l y t i c a l
g ive
sequence
made
because
perform ance
m u ltita skin g
control
be
so lu tio n s
a n a ly tic a l
in a m u l t i t a s k i n g
the
sele c tio n
the
The
assem bly tim e
through
of
are
ca n
for
show
the
v is u a lly
system.
between
in
the
In
robot
s im u la tio n .
presented
in
the
cell
can
s e c tio n .
Physic a I
P hysical
s im u la tio n
Si m ul a t i on R e s u l t s
fo r
a
ro b o tic
assem bly
51
suggest
improvem ents
in
system s.
A p h y sic al
sp a tial
re la tio n s h ip s
m a te ria l
elem ent
the
e n tire
The
m et ho d
eva lu a ted
assem bly
s in g le
Al I
recorded
source
to
are
to
the
lis te d
record
programs
con trol
con trol
the
in
record
were
method.
robot
B.
number o f
steps
required
the
number
of
the
a nd
Each
were
in p u ttin g
th e data
fo r
executable
file
"TESINI "
for
the
file s
d iffe re n t
methods:
robot
method.
arms
The
Program
a
were
program
"ULL"
A.
was
Pr o g ra m
B ' s m ov em e nt s .
to
eva lu a te
"DLL"
"DLL I "
of
o f the
axis.
a nd
the
the
th is
c e ll
s in g le
c o n tro lle d
stepper
robot
the
contained
motors
w o u ld
be
a s many as t h e
Furtherm ore,
were
the
co n tro lle d
b a s ic a lly
m o vi ng
ax is
cel I .
w ith
co n trol
robot
programs
lo catio n s
defin ed
programs
robot
program
These
robot.
s p e c ifie d
steps
Program
A,
E.
the
the
research
test.
for
Program
for
moved t o
robot
the
is
th is
a n a ly tic a l
by
develo ped
movements
to
by
movements
fo r
attached
m et ho ds
c ritic a l
c e ll
operate
in
Appendix
movements
the
to
the
tra n sfer
A
ro b o tic
u se d
perform ance
was d e v e l o p e d t o
Two
task
p rio r
a
executed
v is u a lly
equipm ent.
m e t h o d , a nd a m u l t i t a s k
o p eratio n s
co d e s
developed
"ULLI"
the
be
m anufacturing
m achines,
of
id e n tifie d
con trol
shows
perform ed
independent
sequences
task
wi I I
s im u la tio n
two
model
h a n d lin g
d esign
that
ph y sic al
of
between
an d
con trol
d esign
s im u la tio n
mechanisms,
in
the
ac tiv a te d
these
by
name.
was
developed
for
the
m u ltita sk
52
con trol
method.
Appendix
fo r
F.
robot
co d e d
to
was
To e x e c u t e
movements
the
program.
execu tive
be t e s t e d
in
had t h e
T ab le
6
robot
The
updated
to
the
The f i r s t
the
task-d o u b le
the
best
sequence
s o lu tio n .
In
the
best
Bound
No
sequence
ph y sic al
exp erim ents
The
e xe cu tio n
The
a
also
(robot
A or
perform ance
mode
sequence
was
w ith
the
the
program
p rio ritiz e d
s eq ue nc e
from
ta b le
The
the
shows t h e
se c o n d
exe cu tio n
task
part
mode
sin g le
tim e
exe cu tio n
the
and
Branch
mode,
and
Bound
ta s k ,e x e c u tio n
mode,
determ in ed
robot
worse
th is
knew w h i c h
150.04
occurred
of
in
be
e x e c u t i o n mode.
by
was
The c o m p l e t i o n
c o n flic ts
to
s e q u e n c e had
higher
mode.
sin g le
under a
was
names
had
ro u tin e
o f the
double ro b o t
A under
B,
file
obtained
robot
was d e t e r m i n e d
robot
s o lu tio n .
part
execution
The c o m p l e t i o n t i m e
using
next
re s u lts
shows
robot
data
in
be p e r f o r m e d .
robot
using
lis te d
movements
scheduler
tas k -s in g le
In
is
Therefore,
the
the
presents
the m u ltita s k
B's
moment.
sin g le
fin a lly ,
the
scheduler
w ith
p rio rity
s in g le
code
decided what s p e c i f i c
tim e
sim u la tio n .
source
program,
and
T h i s means t h a t
highest
p h y sic al
th is
file
th at
c o n tin u o u s ly
sequence.
program
A's
in
m u ltita s k
The
seconds.
by
was
the
Br a n c h
148.82
during
and
seconds.
the
ab o v e
B ).
both
than
shortest
robots
the
above
under
two
com pletion
a
sin g le
exp erim ents.
tim e
was
found
53
T ab le
6.
Physical
S im ulation
R esults
PHYSICAL SIMULATION RESULTS
ROBOT A
ASSEfvBLY
OPERATIONS
SEQUENCE
SPT
0 O
LPT
0
1 O S i O 4 O 3 O 2 O 6 O o
1 O 2 O 3 O 4 O 5 O 6 O 0
B & B
1
0
O
SEQUENCE
SPT O O
LPT
O O
B & B
O
O
O 3 O 5 O 4 O 2 O 6 O 0
1 0
5
0
SNGLE TASK
SNGLE TASK
B
B
A
& B.
SINGLE TASK
B
A
SPT
MJLTIT ASKNG
LPT
MULTITASKING
B
A
B
R
& B
0
3
0
2
ROBOT A AND B
A
a
4
0
6
I O 2 O 3 O 4 O 5 O 6
I O 2O 5O 4O3O 6
A
LPT
154.09
160.15
150.04
ROBOT B OPERATIONS
SEQUENCE
SPT
TIME (SEC)
MULTITASKNG
A
B
O
O
O
O
O
O
O
O
O
O
O
O
O
O
0
0
0
0
0
0
0
0
0
0
O
O
O
O
O
O
O
O
O
O
O
O
5
1
1
2
5
1
5
1
1
2
2
1
O
O
O
O
O
O
O
O
O
O
O
O
O
0
158.96
O
0
0
154.00
O
148.82
OPERATIONS
4
3
4
3
4
3
3
4
4
3
4
5
O
O
O
O
O
O
O
O
O
O
O
O
2
6
6
5
2
6
2
6
6
5
3
6
O
O
O
O
O
O
O
O
O
O
O
O
O
157.96
O
0
0
0
0
0
0
0
0
0
0
169.29
157.96
131.59
123.73
127.00
54
by t h e SPT r u l e
com pletio n
tim e
and
for
se c o n d s more t h a n
The
showed
th is
best
sin g le
by
re s u lts
the
s e q u e n c e was m e a s u r e d a s
outperform ed
good
cho ices
in
by
fo r
mode
the
the
the
9.14
( robot B ) .
w ith
two
robot
arms
a ll
the
s in g le
task
com pletio n
com pletio n
tim e
tim e
for
was
th is
seconds.
a n a ly tic a l
SPT
The
seconds,
exe cu tio n
to
The
a lg o rith m .
157.96
shortest
123.73
the
Bound
was
c om pa re d
LPT r u l e .
As d e s c r i b e d
and
robot
exe cu tio n
The s e q u e n c e w i t h
determ in ed
was
Branch
sequence
in t h e
m u ltita s k
the
modes.
the
ru le
chips
re s u lts ,
because
as
the
the
of
LPT r u l e
the
lack
assem bling
of
tasks
proceeded.
From
the
above
re s u lts ,
B r a n c h and Bound a l g o r i t h m
con trol
method.
recommended
for
in-d epth
the
m u ltita sk
an a ly s is
of
was
perform ed
However,
the
it
concluded
best
same
a
task
was
not
method.
m u ltita sk
the
sin g le
s o lu tio n
con trol
the
in
that
Therefore,
perform ance
was
f o I I owed.
In
of
the
the
c e ll
assem bly
fo llo w ed
m u ltita s k
control
played
im portant
sequence.
by r o b o t
so I u t i o n .
O p e r a t i on
This
Figure
3
to
A
place
occupied
means
16
A and r o b o t
Ro b o t
assem bly a r e a
B.
an
m et hod
th at
a
the
in
shows
2.
the
ph y sic al
s e le c tin g
the
B under t h e
t r a v e Ied
chip
ro le
,
the
best
physical
paths
B r a n c h and
Bound
longest
Th i s
layout
distance
o p e r a t i on
by r o b o t
A serio u sly
physical
c o n flic t
Ieft
d e layin g
should
be
in
the
robot
removed
PATHS; 2 - 4 - 3
Figure
16.
PATHS;
Physical Paths followed by Robot A and Robot
under the Branch and Bound solution
1 - 5 - 6
B
56
to
reduce
the
S im ila rly ,
d elay
the
exe cu tio n
O p eratio n
5
m atter
fact,
d r aw n
of
by
by bo th
16.
Tab le
Tab le
7.
robot
a ll
Se q u e n c e
LPT
b etter
there
s till
was
Th erefo re,
a
w ith
ro b o tic
firs t
under
p h y sic al
number
m ic ro ch ip s,
by
robot
robot
A
c o n flic t.
between
A.
and
As
two
a
paths
c o n flic ts
in
physical
c o n flic ts
of
No. o f p h y s i c a l
c o n fIic ts
the
Figure
% o f delay
w /resp ect to
analy tic a l s o l.
10.10
10.65
8.38
3 9 . 10
29.53
38.00
m u ltita sk
c o n fIic t
s o lu tio n
should
robot
by
C o n flic ts
t h e . Branch
was
m in im ize
under
i m p ro v e m e n t
Each
physical
B
'0
0
0
. 3
3
. 3
p h ysicaI
arms
vr
in te rs e c tio n s
was
the
to
one r o b o t a nd r em ov e t h e
robot.
in
Physical
than
robot
sequences.
Meth od
better
new s o l u t i o n
The
of
ru le
perform ed
the
the
on
O p eratio n
s in g le task
s in g le task
s in g le task
m u ltita sk
m u ltita sk
m ulti task
The
of
of
were th e
by v a r i o u s
Control
SPT
LPT
B. & B .
SPT
LPT
B . & B.
The
those
shows
Number
forced
B were
robots
7
exp erien ced
tim es
should
re s p e c tiv e ly .
co n tro l
method
and
Bound
s o lu tio n ,
but
as
shown
in
17.
sought
the
in
Figure
th is
physical
th esis.
in terferen ce
m u ltita sk
ex e c u tio n
p lace
unassembled
an
fin is h e d
place
two
According
board w i t h
m icrochips
to
the
method.
board
the other
among
c irc u it
four
board
ROBOT A
ROBOT B
Ul
BOARD/FPFV
BOAFD/FPRODUCT
PATHS 1
PATHS 2 - 3 -
F ig u re
17.
P h y s i c a l P a t h s f o l l o w e d by Ro b o t A and Ro bo t
u n d e r t h e LPT R u l e s o l u t i o n
B
58
c o n fig u ra tio n ,
robot
by
A
were
robot
that
the
chip
A.
is,
The
robot
com plete
two
I
B
c a lle d
adju sted
the
number o f p h y s i c a l
tim e
for
th is
th is
value
w ith
com pletio n
e ffic ie n c y ,
They
was
s e lect
The
in
Figure
c o n flic ts
should
appl ied
2
o f th is
18.
sm alle r
fo r
tim e ,
mean
of
I 16
system
summarized
They were c a l c u l a t e d
tim e
fo r
ea c h
by u s i n g t h e
was
sequence,
the
seconds.
those
other
c o n flic ts .
such
m easuring
for
sequence
fo llo w in g
S till,
fo r
values
for
u tiliz a tio n
sequence
Th e c o m p l e t i o n
param eter
flo w
chip
B,
com bination
t h e minimum number o f p h y s i c a l
ev a lu a tio n
robot
to
th is
than
to
3
This
Un d e r
clo ser
be a s s e m b l e d
and
was m i n i m i z e d .
re la tiv e ly
and t h e
are
located
chip
re s u lts
sequence.
perform ance
effe c tiv e n e s s
were
s e q u e n c e was m e a s u r e d a t
was
sequences,
4.
approach
an a s s e m b l y .
shown
th at
chip
should
are
the
and
same
o p eratio n s
The
chips
m easuring
in
as
the
the
Tab le
equations:
CompI e t i on T i me
n
MS
where
=
S
t 1-
+
Ms = t h e
co m p letio n tim e
t j
= the
processing tim e o f ta s k
dj
= the
id lin g
tim e
for
d i
req u ired
the
for
n tasks
i
(i
task
in a sequence S
= l,2 ,...,n )
i
6.
ROBOT A
BOARD/FPRODUCT
'SSEMBLY/
ROBOT B
BOARD/FPRODUCT
PATHS: 1 - 3 -
Figure 18.
Physical Paths followed by Robot A and Robot
under an adjusted sequence
B,
60
T a b le 8.
A n a ly tic a l
R esults
vs.
Physical
S im ulation
ANALYTICAL RESULTS
SEQUENCE
ROBOT COMPLETION
MEAN
SYSTEM
TIME
FLOW TIME UTILIZATION
B. S B. SINGLE TASK
B. I B. SINGLE TASK
B. $ B. SINGLE TASK
A
B
AI B
137.46
137.11
136.65
85.33
84.01
84.11
100.00
100.00
50.00
8. I 6. MULTITASK
SPT MULTITASK
LPT MULTITASK
AI B
A4 B
A&B
78.74
80.13
87.19
27.42
27.94
30.61
90.98
87.72
83.98
PHYSICAL SIMULATION RESULTS
SEQUENCE
ROBOT COMPLETION
MEAN
SYSTEM
TIME
FLOW TIME UTILIZATION
SEC.
SEC.
I
8. 4 B. SINGLE TASK
8. 4 B. SINGLE TASK
B. 4 B. SINGLE TASK
A
B
A4 B
150.04
148.82
157.96
85.33
84.01
84.11
100.00
100.00
50.00
B. 4 B. MULTITASK
SPT MULTITASK
LPT MULTITASK
ADJUSTED MULTITASK
A4
A4
A4
A4
127.00
131.59
123.73
116.00
49.78
50.64
47.09
44.83
59.43
57.72
61.64
67.25
B
B
B
B
R esults
61
Mean F I ow Time
where
Fj
g = flo w
(i =
tim e
for
task
i
in a sequence S
I , 2, . . . , n )
S y st e m U t i I i z a t i on
U =
M - I
---------------- *
M
100
(per
robot)
where
M = comp I e t i on t i me
I = to ta I
Bo th
id le
the
a n a ly tic a l
s im u la tio n
re s u lts
was b e t t e r
than
com pletion
tim e .
the
com pletio n
tim e
re s u lts
showed t h a t
the
sin g le
As
tim e
between
c o n s id e rin g t h a t
a ro b o tic
hours a day,
d a y s a w ee k ,
six
the
the m u ltita s k
task
shown
and
in
execution
Tab le
two
8,
e x e c u t i o n mode
mode
the
s eq ue nc e s
fa c ility
th is
physical
terms
of
d iffe re n c e
of
is
in
s m all,
but
wo uld be r u n n i n g t w e n t y
d iffe re n c e
c o u l d be v e r y
im p o rtan t.
In t h e p h y s ic a l
Branch
and
sin g le
task
it
generated
re s u lts ,
it
Bound
s im u la tio n ,
s o lu tio n
e xe cu tio n
the
was
the
w ith
a
resu lts
showed t h a t
a
sin g le
robot
a
mode was t h e b e s t
sho rtest
concluded
com pletio n
that
the
tim e.
best
under
cho ice
because
Ba sed
on t h e s e
a n a ly tic a l
method
62
cou I d
be
s in g le
task
As
d ire c tIy
exe cu tio n
stated
b etter
in
both
the
Bu t an
to
best
the
robots
under
because
of
sim u la tio n
ph y sic al
arm s.
to
sequence
5.6
% and
would
or
to
s o lu tio n
sequence
improved
reduced
be
was
when
not
a
sequence
o v e ra ll
com pletio n
the
above
it
two
a
to
or
would
as
s ys te m
by 8 . 6
more
method
d ig ita l
detect
between
such
tim e
physical
con trol
d iffic u lt
was
recommended
w ith
c o l l i sons
the
the
using
Even
s im u la tio n
the
under
met hod
and
execution
very
avo id
assem bly
robot
con trol
method
c o n flic ts .
a p h ysical
b etter
that
m u ltita sk
a n a ly tic a l
it
s in g le
method.
m u ltita skin g
c o n flic t
a
a
a n a ly tic a l
p h y sic al
W ithout
fin d
the
assem bly
a
to o l,
fo r
con trol
before,
s im u la tio n .
seek
a p p Iie d
tw o
any
robot
be d i f f i c u l t
the
adjusted
u tiliz a tio n
by
% referred
to
presented
in
in T a b le 8 .
In
T ab le
9.
T ab le
9.
summary,
Summary o f t h e
discussio ns
are
Best Sequences.
High
E ffic ie n c y
o h i g h u t i I i z a t i on
High
E ffe c tiv e n e s s
o s h o rte r c o m p le tio n tim e
o s h o r t e r mean f l o w t i m e
o sh o rte r id le tim e
8. & 8. s in g le task
( r o b o t A o r r o b o t 8)
A d justed
sequence
m u ltita sk
( r o b o t A and r o b o t 8)
N o te:
No
physical
Note:
A d justed t o m in im ize
the
number o f p h y s i c a l c o n f l i c t s
c o n flic ts
63
CHAPTER 5
SUMMARY AND CONCLUSIONS
An e v a l u a t i o n
two
softw are
of
a v a rie ty
of
con trol
methods,
a
p r o g r a m and a m u l t i t a s k
th is
th e s is .
Three
a n a ly tic a l
the
assem bly sequences,
the
longest p rocessing
alg o rith m .
the
b as is
In
c e ll,
two
parts
to
The
for
factors
should
be
assem bled
a
the
In
c o n tro llin g
be
e ffe c tiv e
be
numb er
a
a nd
(LPT),
be
used t o
processing
in
se le c t
ru le
(SPT),
and t h e B r a n c h and Bound
from
th is
research
an
in to
assem bly
account.
were
designed
fo r
movements
c e ll
m us t
the
im proving
the
The number
ph y sic al
c e ll,
p o w erfu l.
The
accordin g
and p r o d u c t i o n
to
or
control
softw are
the
q u a n tity .
such a way
be
also
co n fig u rated
c o n flic ts
the
in
should
be
ro b o tic
F irs t,
assem bly p ro c e s s .
robot
of
execution
con clu sion s:
be t a k e n
the
under
was p r e s e n t e d
be minimum a nd a r r a n g e d
ro b o tic
selected
c o n fig u ra tio n ,
shortest
must
of
Second,
task
met hod s w e r e
im plem enting
ro b o tic
should
number
m in im ized .
should
in
ro u tin e s
sin g le
program,
o b tained
fo llo w in g
and
the
m in im ize
ru le
des ig n in g
c o m po n e nt s
that
the
re s u lts
the
a s s e m b la b iIity
of
exe cu tio n
assembly
to
c o llis io n s .
schemes
con trol
should
schemes
part
types,
cell
When a
s in g le
robot
64
was u t i l i z e d ,
task
100
the
exe cu tio n
recommended c o n t r o l
method.
% u tiliz a tio n
of
This
the
m et ho d
ro b o tic
which g e n e r a t e s t h e
For
the
con trol
p erip h erial
m u ltita s k
re s u lts
d ev ice s
con trol
perform ance
w ith
sin g le
of
the
a part
case.
p h y sic al
a n a ly tic a l
term s
the
of
exe cu tio n
When
m inim ize
was
67
to
m et hod
and
P rod uction
used f o r
e ffic ie n c y
and
control
p o lic ie s
in to
in v e s tig a te d
arm,
a
of
best
layout,
assem bly
could
m u ltip le
C hapter
was
when
the
tim e
to
to
the
number
4.
An
se q u e n c e
not
not
was
physical
comparison
in
best
sequence
c e ll
in
The
the
t o m in im ize th e
in
recommended
be
observed
the
m u ltita s k
number o f
ro b o t arms.
have c o n f l i c t s
in d e c id in g
effe ctive n ess
th e ir
robot
com pletio n
tru e
managers u s u a l l y
between
assem bly c e l l
the
e ffe ctive n ess
o b v io u s ly
uses
showed
the
22 %
c o n flic ts
that
amount
of
the
c e ll
assem bly
the
a nd
the
recommen ded.
d es crib e d
d efin e
is
is
was
one
method
m o d ific a tio n
p h y sic al
This
%,
reduced
The c e l l
ro b o tic
an
in
com pletio n tim e .
s tro n g ly
c e ll.
was
m et ho d
v is u a lly .
is
resu lted
a B r a n c h and Bound
than
con trol
c o n flic ts
the
more
c o n s id e ra tio n
e ffic ie n c y
because
complex
s in g le
Furtherm ore,
by
sho rtest
th is
to
u tiliz a tio n
assem ble
and
by
m o dified
c o n flic t
system
for
a
method
obtained
s lig h tly
of
o b v io u s ly
c e ll.
a s s e m b l y s e q u e n c e s h o u l d be d e f i n e d
a lg o rith m
scheme was t h e
to
systems.
in t h i s
in tro d u ce
For
research,
the
the
the
best
ro b o tic
com pletio n
65
tim e ,
mean
factors
in
u tiliz a tio n
As
se e n
in
u tiliz a tio n
lower
The
flo w
tim e,
a nd
determ in in g
was
a
Tab le
value
u tiliz a tio n
m an a g e r
effe c tiv e n e s s
the
facto r
5,
a
ru le s
e ffe c tiv e n e s s .
for
ev a lu a tin g
sequence
generated
w ith
lo n g er
value
would
sch eduling
w ith
have
(lo w er
(h ig h er
system
alg o rith m s
or
m et ho ds
to
an d h i g h e r
e ffic ie n c y
The
the
e ffic ie n c y .
e ith e r
a
h igher
tim e
a
com pletio n
a
shorter
cho ice
u tiliz a tio n ).
ach iev e
both
sim u lta n e o u s ly .
value
between
u tiliz a tio n )
higher
m ajor
system
com pletio n
system
effe c tiv e n e s s
were
or
tim e.
higher
and
There
a
lower
are
few
e ffe ctive n ess
66
REFERENCES CITED
j
67
I.
B a c k e r , T . P . , a n d G. M. S e a l I o n , "An A r c h i t e c t u r e
R e a I _ T I me S o f t w a r e S y s t e m s " , IEEE S o f t w a r e , May 1 9 8 6 .
2 . D r e z n e r , Z . , an d S.
a nd I n s e r t i o n P l a n s f o r
Volume 16, No. 3 .
3 . C r o w l , D.
MICRO, A u g u s t
A .,
"A
1985.
for
Y . N o f , "On O p t o m i z i n g B i n P i c k i n g
Assemble R o b o ts " , I IE T r a n s a c t i o n s ,
R eal-Tim e
Fortran
E x ecu tiv e",
IEEE
4.
F a t h i , E . T . , E . Bosse a nd J , C a s e a u l t ,
"A D i s t r i b u t e d
S y s te m f o r R e a l - T i m e A p p l i c a t i o n s " ,
IEEE MICRO, December
1987.
5 . H o s s e i n i , J . and N . F a r d , " A n a l y s i s a n d D e s i g n o f a
R e a l-T im e M a n u fa c tu r in g Subsystem", P roceedings o f th e 8 t h
A nn ual C o n f e r e n c e o f C o m p u te r s and I n d u s t r i a l E n g i n e e r i n g .
6 . M u t h , E . J . , " U s i n g a P e r s o n a l Co mp ut e r as a R e a l - T i m e
M u ltita s k in g
C o n tro lle r",
P r o c e e d i n g s o f t h e 8 t h Annual
C o n f e r e n c e o f C o m p u t e r s and I n d u s t r i a l E n g i n e e r i n g .
7.
Pa i d y , S . and R . R e e v e , " T h e Use a nd D e v e l o p e m e n t
P h y s i c a l S i m u l a t o r " , Annual S i m u l a t i o n Symposium.
8 . T a v o r a , C . J . , "A B a s i c T e c h n i q u e f o r
D e s i g n " , C o m p u te r D e s i g n , O c t o b e r 1 9 8 0 .
R eal-Tim e
9 . W a i n W r i g h t , R. E . ,
"A M i c r o c o m p u t e r - b a s e d
S y s te m w i t h P u l s e - W i d t h M o d u l a t i o n C o n t r o l " ,
F e b ru a ry 1985.
10. Owen,
1985
T .,
"Assembly
11.
G roover,
M.P.,
G r a w - H i I I , 19 8 6 .
M.
w ith
Robots",
Wei ss,
Sy s te m
Model Ro bo t
IEEE MICRO,
P re n tic e -H a ll
"In d u s tria l
of
Inc.,
R o b o tics ",
12.
B o o t h r o y d , G . , " E c o n o m ic s o f A s se m bl y S y s t e m s " ,
o f M a n u f a c t u r i n g S y st e m s I , 1 9 8 2 .
Mc
Journal
68
13 .
A n d e r s o n , D . R . , D. I . Sw e e n e y , and T . A. W i l l i a m s ,
"An
In tro d u c tio n
to
Management
S c ien ce",
3rd
E d itio n ,
West
P u b l i s h i n g Company, S t . P a u l , M i n n . , 1 9 8 2 .
14.
W h i t e , J . W . , " U t i l i t y and Sy ste ms S o f t w a r e " ,
C o m p u t i n g , Van N o s t r a n d R e i n h o l d Company, 1 9 8 3 .
15.
M icro b o t
1984.
Inc.,
"TeachMover User M anual" ,
Real
M icrob ot
T im e
Inc.,
16.
Conway, R . W . , W. L . M a x w e ll and L . W. M i l l e r , " T h e o r y
o f S c h e d u l i n g " , A d d i s o n - W e s l e y P u b l i s h i n g Company, 19 6 7.
17.
S a v itz k y , S . R .,
"R e a l-T im e M icro p ro cesso r
Van N o s t r a n d R e i n h o l d Company, 1 9 8 5 .
18 .
Bedworth, D.
C o n tro l System s",
D ., J .
1982.
E.
19.
Borland
In te rn a tio n a l,
I n t e r n a t i o n a l , I n c . , 1987.
Bailey,
Inc.,
"In te g ra te d
"Turbo
20. M ic ro s o ft C o rp o ratio n , "M ic ro s o ft
M i c r o s o f t C o r p o r a t i o n , 19 8 7 .
System s",
Prod uction
BASIC",
Borland
Mac ro A s s e m b l e r 5 . 0 " ,
21.
G r o o v e r , M. P . ,
" A u t o m a t i o n P r o d u c t i o n S y s t e m s , and
C o m p u te r I n t e g r a t e d M a n u f a c t u r i n g " , P r e n t i c e H a l l , 19 8 7.
69
APPENDICES
70
APPENDIX A
B r a n c h and Bound T r e e s
S i n g l e Case
CHP # 2
CHP #1
CHP # 3
CHIP # 3
CHIP # 4
CHP # 4
CHP # 3
F. B O A R D
F. B O A R D
HOME PO S
HOME PO S
Figure 19
CHIP # 4
CHP #1
CHP # 4
CHP #1
CHIP # 3
F. B O A R D
F, B O A R D
F. B O A R D
F. B O A R D
HOME P OS.
HOME POS
CHIP # 3
Branch and Bound Tree for Chip #2 Robot A
CHP # 2
CHP #1
CHP # 2
CHP # 4
CHP #1
CHP # 4
CHP # 2
CHP # 4
F. B O A R D
F. B O A R D
F. B O A R D
HOME POS.
Figure 20.
HOME POS.
CHP # 4
CHP # 4
F. B O A R D
CHP #1
CHP # 2
CHP # 2
CHP #1
F. BO AR D
F. BO A R D
HOME POS.
Branch and Bound Tree for Chip #3 Robot A
IN)
CHP # 4
CHP #1
CHP # 2
CHP # 3
CHP # 3
CHP # 2
F. B O A R D
HOME P O S
Figure 21.
CHP # 3
CHP # 3
CHP * 1
CHP # 2
CHP # 3
CHP # 1
CHP # 2
CHP #1
F. B O A R D
F. BOARD
F. B O A R D
F. BO AR D
F. B O A R D
HOME PO &
HOfvE P O S
HOME P O S
Branch and Bound Tree for Chip #4 Robot A
HOfvE PO S
LU
HOME POSITION
PART
CRCUtT BOARD
6.
CHP #1
Figure 22.
CHIP # 2
CHP # 3
CHP # 4
General Branch and Bound Tree for Robot B
75
APPENDIX B
B r a n c h and Bound T r e e s
M u ltita s k in g
CHP 1
(Ti
Figure 23.
Multitask B . and B . Tree for pair 1,2
Figure 24.
Multitask B . and B . Tree for pair 1,3
CHP 3
-4
CD
Figure 25.
Multitask B. and B . Tree for pair 1,4
■v4
VD
Figure 26.
Multitask B . and B . Tree for pair 1,5
Q H> 1
CD
O
Figure 27.
Multitask B. and B . Tree for pair 2,1
cup a
Figure 28.
Multitask B. and B. Tree for pair 3,1
OF> 3
82
Figure 29.
Multitask B . and B . Tree for pair 4,1
Of 4
& BOAFD
03
CU
Figure 30.
Multitask B . and B . Tree for pair 5,1
APPENDIX C
Com pletion
Ti m e f o r
Single
Robot T r e e s
85
Table 10.
Completion Time for Branches I and 2 - Robot B
SEQUENCE
oo
ASSBvGLNG TME
02O3O4O5O6O0
137-11
0 O 1 O 2 O 3 O 5 O 4 O 6 O 0
13732
OO
OO
OO
OO
1O2O4O3O5O6O0
1O 2 0 4 0 5 0 3 0 6 0 O
10 2 0 5 0 3 0 4 0 6 0 0
1 0 2 0 5O 4O 3 0 6 0 O
137-40
O
1 O
O
1
3 O
2 O
4 O
5 O
6 O
0
OO 1 O 3 O 2 O 5 O 4 O 6 O 0
O O I 0 3 0 4 0 2 0 5 0 6 O O
O O
I O
3 O
O O
1
3
0
0 0
10
3
Os 0 4 0 2 0 6
0
4 O
5
0
5 O
2
0
2 O
4
0
13635
13610
13668
13610
144.13
13743
6 O O
140.18
0
0
137.60
0 0
14057
6
86
Table 11.
Completion Time for Branches 3 and 4 - Robot B
SEQUENCE
ASSEKrBUNG TME
0r> 1 O 4 O 2 O 3 O 5 O 6 O 0
O O 1 0 4 0 2 0 5 0 3 0 5 0
OO 1 O 4 0 3 0
OO 1 0 4 0 3 0
OO 1 0 4 0 5 0
O O 1 0 4 0 5 0
OO
OO
OO
OO
OO
OO
13834
O
136*6
20 50 50 O
5 0 2 0 5 0 O
2 0 3 0 6 0 O
3 0 2 0 5 0 O
138.06
14&82
i365i
141-35
10 5
10 5
I O5
I 05
10 5
02 03 04 06 00
02 04 03 05 00
O3O2O4O6O0
0 3 0 4 0 2 0 6 0 0
04 02 03 06 00
138.79
iaaoo
1 0 5
0 4 0 3 0 2 0 6 0 0
142.2
139*1
nZoo
138.14
Table 12.
Completion Time for Branches I and 2
SEQUENCE
ASSB/BLNG TNE
OO 1 0 2 0 3 0 4 0 5O 6 0 O
OO 1 0 203CS>50 4 0 6 0 O
144.80
0 O 1 O 2 O 4 O 3 O 5 O 6 O 0
14269
O O 1 0 2 0 4 0 5 0 3 O6c t > 0
OO 1 0 2 0 5 0 3 0 4 0 6 0 O
14334
OO 1 0 2 0 5 0 4 0 3O6c>0
14269
OO
OO
OO
OO
OO
OO
1O3O2O4O5O6O0
1 0 3 0 2 0 5 0 4 0 6 OO
1 0 3 0 4 0 2 0 5 0 6 0 0
1O 3 0 4 O 5 0 2 0 6 O O
1O 3 0 5 0 2 0 4 0 6 O O
10 3 0 5 0 4 0 2 0 6 0 0
Robot
143.08
145.06
140.43
141.15
139.78
137.79
14133
137.46
88
Table 13.
Completion Time for Branches 3 and 4 - Robot A
ASSBvBLNG TME
SEQUENCE
Oc^
OO
OO
OO
OO
OO
1040
1O 4 0
10 40
1d> 4 0
1<t> 4 0
1040
20
20
30
30
50
50
3tb
50
2O
50
20
30
50
30
50
20
30
2O
600
60 O
60 O
60 O
60 O
60 O
OO1O5O2O3O4O6O0
O O 1d> 5 0 2 0 4 0 3 0 6 OO
OO 1 0 5 0 3 0 2 0 4 0 6 0 0
OO 1 0 5 0 3 0 4 0 2 0 6 0 0
OO 1 0 5 0 4 0 2 0 3 0 6 0 0
O O 1O 5 O 4 O 3 O 2 O 6 O 0
140.44
14070
14070
13006
14077
139.03
142.54
14043
143.12
138.43
14049
138.43
89
APPENDIX D
C o m p le tio n
Tim e f o r
D o u b le R obot T r e e s
90
Table 14.
Completion Time for Pair (1,2) Multitasking
SEQUENCE
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0.0)
(0,0)
(0,0)
O
O
O
O
IP
(1,2)
(1,2)
(1,2)
(1,2)
(1,2)
(1,2)
O (1,2)
O (1,2)
O (1,2)
O (1,2)
«t> (1,2)
O (1,2)
t p (3,4) O
O (3,4) O
(3,5) «t>
O (3,5) O
O (4,3) tt>
O (4,3) t p
O (4,5) t >
O (4,5) O
O (5,3) O
O (5,3) O
O (5,4) O
cP (5,4) Cp
ASSQveLNG TK E
(5,6)
(6,5)
(4,6)
(6,4)
(5,6)
(6,5)
(3,6)
(6,3)
(4,6)
(6,4)
(3,6)
(6,3)
O (0,0)
cP (0,0)
O (0,0)
(0,0)
«t> (0,0)
O (0,0)
O (0,0)
O (0,0)
t > (0,0)
O (0,0)
O (0,0)
iP (0,0)
8 2 .9 6
86.0 5
8 3 .5 4
8 6 .0 5
8 4 .3 5
8 7 .1 9
8 1 .3 3
8 3 .4 2
8 4 .3 5
8 4 .8 5
8 1 .9 8
82.31
Table 15.
Completion Time for Pair (1,3) Multitasking
ASSEMBLING TME
SEQUENCE
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
«t> (1,3) Cp
O (1.3) Cp
(1,3) CP
O (1,3) Cp
O (1,3) Cp
O (1,3) Cp
(1.3) Cp
C> (1,3) «P>
O (1,3) Cp
O (1,3) Cp
Cp (1,3) O
Cp (1,3) cp
(2,4)
(2,4)
(2,5)
(2,5)
(4,2)
(4,2)
(4,5)
(4,5)
(5,2)
(5,2)
(5,4)
(5.4)
Cp
Cp
cp
Cp
Cp
Cp
Cp
Cp
Cp
Cp
Cp
Cp
(5,6)
(6,5)
(4,6)
(6,4)
(5,6)
(6,5)
(2,6)
(6,2)
(4,6)
(6,4)
(2,6)
(6,2)
Cp
cp
Cp
Cp
Cp
Cp
Cp
Cp
Cp
Cp
cp
cp
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
88.48
82.22
89.06
88.22
90.98
89.54
81.33
83.42
90.98
8 7 .2 0
81.32
81.65
92
Table 16.
Completion Time for Pair (1,4) Multitasking
ASSEkGLNG TivE
SEQUENCE
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0.0)
(0,0)
(0,0)
c>
O
O
<t>
O
ct>
«t>
O
O
O
tt>
(0,0) O
(1,4)
(1,4)
(1,4)
(1,4)
(1,4)
(1,4)
(1,4)
(1.4)
(1.4)
(1,4)
(1,4)
(1,4)
O
O
C>
O
O
O
(2,3)
(2,3)
(2,5)
(2,5)
(3,2)
(3,2)
(3,5)
<=> (3,5)
O (5,2)
O (5,2)
O (5,3)
O (5,3)
(5,6)
(6,5)
(3,6)
(6,3)
(5,6)
O (6,5)
O (2,6)
<t> (6,2)
O (3.6)
O (6,3)
O (2,6)
O (6,2)
O
O
O
O (0,0)
C> (0,0)
ct> (0,0)
(0,0)
it> (0,0)
O (0,0)
(0,0)
Ct> (0,0)
O (0,0)
O (0,0)
O (0,0)
t p (0,0)
88.31
88.22
89.0 6
88.22
89.92
88.9 0
83.54
86.05
89.92
86.14
83.07
83.57
Table 17.
Completion Time for Pair (1,5) Multitasking
ASSEkGUNG TKG
SEQUB\ICE
(2.3)
(2.3)
O
O
Ct> (2.4)
O
tt> (2.4)
O
tO (3.2)
(o.o) <o (1,5) t b (3.2)
(0,0) t o (1,5) O (3.4)
(0,0) t o (1,5) t o (3.4)
(0,0) t o (1,5) t o (4.2)
(0,0) t o (1,5) t o (4.2)
(0,0) t o (1,5) t o (4.3)
(0,0) t o (1,5) O (4.3)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(1,5)
(1,5)
(1,5)
(1,5)
(1,5)
O
IO
tO
tO
O
tO
CO
<0
O
O
tO
tO
tO
(4,6)
(6,4)
(3,6)
(6,3)
(4,6)
(6,4)
(2,6)
(6,2)
(3,6)
(6,3)
(2,6)
(6,2)
O
O
O
tO
tO
CO
O
O
tO
tO
CO
tO
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
88.31
88.22
88.48
88.22
90.15
89.13
83.53
86.05
90.15
88.70
83.68
86.94
Table 18.
Completion Time for Pair (2,1) Multitasking
SEQUENCE
(0.0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0.0)
(0,0)
O
O
O
CO
CO
CO
CO
CO
CO
O
O
CO
(2,1)
(2.1)
(2,1)
(2,1)
(2.1)
(2,1)
(2,1)
(2.1)
(2,1)
(2,1)
(2,1)
(2,1)
lt>
O
O
CO
CO
O
tO
CO
CO
CO
CO
CO
(3,4)
(3,4)
(3,5)
(3,5)
(4,3)
(4,3)
(4,5)
(4,5)
(5,3)
(5,3)
(5,4)
(5.4)
ASSBveLMG TKE
Ct>
«t>
«t>
CO
CO
CO
CO
tO
O
CO
CO
CO
(5,6)
(6,5)
(4,6)
(6,4)
(5,6)
(6,5)
(3,6)
(6,3)
(4,6)
(6,4)
(3,6)
(6,3)
«t>
O
CO
tO
tO
O
CO
CO
CO
O
CO
CO
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
81.0 3
84.12
81.01
84.12
80.72
83.56
78.74
80.83
80.72
81.22
78.74
79.07
95
Table 19.
Completion Time for Pair (3,1) Multitasking
SEQUENCE
(0,0) O
(0,0) O
(0,0)
(0,0)
(0,0)
(0,0)
(0.0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(3,1) «t> (2.4)
(3,1) «t> (2.4)
t b (3,1) O (2.5)
O (3,1) O (2.5)
O (3,1) O (4.2)
O (3,1) O (4.2)
O (3.1) O (4.5)
O (3,1) O (4.5)
O (3,1) cp (5.2)
O (3,1) O (5.2)
O (3,1) O (5.4)
O (3,1) cp (5.4)
ASSe^BLNG TK E
O (5,6) «P (0,0)
I P (6,5) Cp (0,0)
Cp (4,6) O (0,0)
IP (6,4) IP (0,0)
IP (5,6) O (0,0)
Cp (6,5) I P (0,0)
I P (2,6) O (0,0)
I P (6,2) Cp (0,0)
IP (4,6) IP (0,0)
O (6,4) O (0,0)
IP (2,6) IP (0,0)
O (6,2) IP (0,0)
84.93
84.67
85.51
84.67
87.02
85.58
79.77
81.86
87.02
83.2 4
78.74
79.07
96
Table 20.
Completion Time for Pair (4,1) Multitasking
ASSBvBUNG T K E
SEQUENCE
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0.0)
(0,0)
(0,0)
O
O
O
O
O
O
O
O
O
O
O
(4,1)
(4,1)
(4,1)
(4.1)
(4,1)
(4,1)
(4,1)
(4,1)
(4.1)
(4,1)
(4,1)
(4,1)
O
O
O
O
(2.3)
(2.3)
(2.5)
(2.5)
(3.2)
O (3.2)
O (3.5)
C> (3.5)
O (5.2)
O (5.2)
«t> (5.3)
O (5.3)
O
O
O
O
O
O
O
O
O
O
O
(5,6)
(6,5)
(3 ,6 )
(6,3)
(5,6)
(6,5)
(2,6)
(6,2)
(3,6)
(6,3)
(2,6)
(6,2)
O
O
O
O
O
O
O
O
O
*t>
O
O
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
81.97
80.63
82.67
81.88
87.02
86.00
80.11
82.62
87.02
83.24
80.72
81.22
97
Table 21.
Completion Time for Pair (5,1) Multitasking
SEQUENCE
(0,0) O (5.1)
(0,0) O (5.1)
(0.0) O (5.1)
(0,0) O (5,1)
(0,0) O (5.1)
(0,0) Cb (5,1)
(0,0) Cb (5,1)
(0,0) Cb (5,1)
(0,0) Cb (5,1)
(0,0) Cb (5.1)
(0,0) Cb (5,1)
(0,0) Cb (5.1)
O
O
Cb
«b>
Cb
Cb
Cb
Cb
Cb
Cb
Cb
(2,3)
(2,3)
(2,4)
(2,4)
(3,2)
(3,2)
(3,4)
(3,4)
(4,2)
(4,2)
(4,3)
(4.3)
ASSBvGUNG JME
Cb
O
O
O
O
Cb
O
Cb
Cb
Cb
Cb
Cb
(4,6)
(6,4)
(3.6)
(6,3)
(4,6)
(6,4)
(2,6)
(6,2)
(3,6)
(6,3)
(2,6)
(6,2)
O
O
Cb
Cb
O
Cb
£>
Cb
Cb
Cb
Cb
Cb
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0,0)
(0.0)
(0,0)
81.68
81.59
81.85
81.5 4
87.02
86.0 0
80.1 3
82.65
87.02
85.58
80.72
83.98
98
APPENDIX E
S o u r c e Code f o r
P ro g ra m s
"U LL",
"Ulll",
"DLL",
"DLL I "
99
Figure 31.
100
HO
120
130
140
150
160
170
180
190
COLOR 1 5 ,1 ,1
'U L L .BAS
DEFINT A -Z
DIM L (7 )
'
OPEN nCOMl: 9 6 0 0 ,N ,8 ,I ,RS.DS.CS" AS #1
CLS: INPUT"I NPUT F IL E ";A $
OPEN A$ FOR OUTPUT AS #2
CLS.-LOCATE 1 0,20
PRINT "CLEAR ROBOT MEMORY BY PRESSING
LOCATE 1 4,20
200
205
210
220
Source code for program "ULL"
'CLEAR'
INPUT "ENTER # OF MOVES RECORDED WHEN DONE (0
PR INT#I , "PRESET":INPUT#I , I
PRINT #l,"@QOUMP" : INPUT # 1 , SHAKE
& 'ZERO' "
> ANS > 5 3)? " , NUM.MOVES
'
230
FOR LINUM = 0 TO 52
240
FOR Y = 0 TO 7
250
INPUT # 1 , L (Y )
260
IF (Y = 0) THEN L (Y ) = L(Y)+(TOT.MOVES)
270
IF ( L I NUM < NUM.MOVES) THEN WRITE # 2 , L (Y )
280
NEXT Y
290
NEXT LINUM
300 '
310
WRITE # 2 , LAST.MOV+I
320
WRITE # 2 , 2307
330
WRITE # 2 , LAST.MOV+I
340
FOR I = I TO 5
350
WRITE # 2 , 0
360
NEXT I
370 PRINTmTHE END"
380 END
: LAST.MOV = L(O )
100
Figure 32.
Source code for program "DLL I"
100
HO
120
130
COLOR 1 5 ,1 ,1
DEFINT A -Z
DIM L (7 )
'
' ULL. BAS
140
150
160
170
OPEN "COM2:9600,N ,8 , I ,RS,DS,CS" AS #1
CLS: INPUT"I NPUT F IL E ";A $
OPEN A$ FOR OUTPUT AS #2
CLS: LOCATE 1 0,20
180 PRINT "CLEAR ROBOT MEMORY BY PRESSING
190 LOCATE 14,20
200
210
220
'CLEAR'
INPUT "ENTER # OF MOVES RECORDED WHEN DONE (0
PRINT #1,"@QDUMP" : INPUT # 1 , SHAKE
& 'ZERO' "
> ANS > 53)? " , NUM.MOVES
'
230
FOR LINUM = 0 TO 52
240
FOR Y = 0 TO 7
250
INPUT # 1 , L (Y )
260
IF (Y = 0) THEN L (Y ) = L(Y)+(TOT.MOVES)
270
IF ( L I NUM < NUM.MOVES) THEN WRITE # 2 , L (Y )
280
NEXT Y
290
NEXT LINUM
300 '
310
WRITE # 2 , LAST.MOV+I
320
WRITE # 2 , 2307
330
WRITE # 2 , LAST.MOV+I
340
FOR I = I TO 5
350
WRITE # 2 , 0
360
NEXT I
370 PRINTmTHE END"
380 END
: LAST.MOV = L(O)
101
Figure 33.
Source code for program "DLL"
IO COLOR 1 5 ,1 ,1
20 DEFINT A -Z
30 DIM L (7 )
50 '
60 OPEN " C 0 M 1 :9 6 0 0 ,N ,8 ,I ,RS.DS.CS" AS #1
70 '
80 ' --------- U p -lo a d in g from ro b o t t o f i l e s :
90 PRINT # I , "@RESET": I NPUT#I , I
100 CLS
150 INPUT "F IL E ";F $
340 OPEN F$ FOR INPUT AS #2
350 WHILE (EOF(Z)=O)
360
INPUT #2 , L I ,L Z ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
370 PR INT#I , "0QW RITE",LI ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8 :IN P U T # I , I
380 WEND ‘
390 '
400 ' > » » »
410 '
420
430
440
450
EXECUTION ROUTINE « « < « < < « «
PRI NT#I , "@RUN":INPUT#I , I
CLOSE #1
CLOSE #2
END
102
Figure 34.
Source code for program "DLL I"
10 COLOR 1 5 ,1 ,1
20 DEFINT A-Z
30 DIM L (7 )
50 '
60 OPEN "COM2:9600,N ,8 , I ,RS.DS.CS" AS #1
70 '
80 ' --------- U p -lo a d in g from ro b o t t o f i l e s :
90 INPUT " F IL E " ;F $
100 CLS
150 PR I NT#I , "@RESET": I NPUT#I , I
340 OPEN F$ FOR INPUT AS #2
350 WHILE (EOF(Z)=O)
360
370
380
390
400
410
420
430
440
450
INPUT #2 , L I ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
P R IN T # !," @ Q W R IT E " ,L I,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8 :IN P U T # !,I
WEND
'
' » » > > > EXECUTION ROUTINE « < « « « « «
'
P R IN T#!,"@ R U N ":IN P U T#!,I
CLOSE #1
CLOSE #2
END
,1
103
APPENDIX F
S o u r c e Code f o r
P r o g ra m
" T E S IN 1 "
I04
Figure 35.
Source code for program "TESiNi"
70
80
100
110
COM(I) ON
'Scoml 4000
KEY OFF:CLSrCOLOR 15,1
DEFINT A-Z
115
120
125
130
136
O PEN"COM 2:9600,N,8,I ,RS.DS.CS" AS #3
OPENmCOM1:9 6 0 0 ,N ,8 , 1,R S,O S ,CS"AS #1
INPUT"I NPUT No. OF CYCLES";N
FOR C=I TO N
CLS
137
138
140
150
160
170
180
190
195
200
300
310
320
330
1140
1150
1160
1170
1180
1220
1225
1230
1390
1400
1410
1415
1500
1550
1560
1570
1580
1620
1625
1630
PRINT # I , "PRESET":I NPUT # 1 , IrP R IN T # 3 , "PRESET":INPUT # 3 ,1
LOCATE 4 , IO rP R INT"ASSEMBLIBNG BOARD No. : " ; C
OPEN "aO"FOR INPUT AS #2
WHILE EO F(2)=0
INPUT # 2 , L I ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
PRINT # 1 ," P Q W R IT E " ;L I;L 2 ;L 3 ;L 4 ;L 5 ;L 6 ;L 7 ;L 8 :IN P U T # !, I
WEND
PR INT#I," p R U N " :INPUT#I , I
LOCATE 8 , IOrPRINT "PLACING BOARD"
CLOSE #2
T IM E $ = "0 0 :0 0:00 "
T$=RIG HT$(TIM E$,2)
IF T$="28" THEN 1140
GOTO 310
OPEN "b3"FOR INPUT AS #2
WHILE EO F(2)=0
INPUT # 2 ,L 1 ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
PRINT # 3 ,"P Q W R IT E " ;L 1 ;L 2 ;L 3 ;L 4 ;L 5 ;L 6 ;L 7 ;L 8 :IN P U T # 3 ,I
WEND
PR INT#3, "PRUN": I NPUT#3, I
LOCATE 1 0 ,10:PRINT"PLACING CHIP # I"
CLOSE #2
T IM E $ = "0 0 :0 0 :0 0 "
T$=RIG H T$(TIM E$,2)
IF T$="22" THEN 1500
GOTO 1400
PRINT # I , "PRESET":I NPUT # 1 , 1 : OPEN "al"FOR INPUT AS #2
WHILE EO F(2)=0
INPUT # 2 ,L 1 ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
PRINT # l," p Q W R IT E " ;L l;L 2 ;L 3 ;L 4 ;L 5 ;L 6 ;L 7 ;L 8 rIN P U T # l,I
WEND
PR INT#I , "PRUN": I NPUT#I , I
LOCATE 1 2 ,10:PRINT"PLACING CHIP # 2"
CLOSE #2
'0 1 IZ .b a s
105
1640
1890
1900
1910
1915
1920
1930
1940
1950
i9 6 0
2010
2015
2020
2030
3000
3010
3020
3030
3040
3050
3060
3070
3080
3120
3125
3130
3140
3150
3160
3170
3180
3190
3200
3210
3220
3230
3240
3250
3280
3290
F ig u r e 3 5 .
( C o n t in u e d )
'STOP
T IM E $ = "0 0 :0 0 :0 0 "
T$=RIG HT$(TIM E$,2)
IF T$="27" THEN 1920
GOTO 1900
PRINT # 3 , "©RESET":INPUT # 3,I:O P E N ”b5"FOR INPUT AS #2
WHILE EOF(2)=0
INPUT # 2 ,L 1 ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 .L 7 ,L 8
PRINT # 3,"@ Q W R IT E ";L 1 ;L 2 ;L 3 ;L 4 ;L 5 ;L 6 ;L 7 ;L 8 :IN P U T # 3 ,I
WEND
PR INT#3, "@RUN": I NPUT#3, I
LOCATE 1 4 ,10:PRINT"PLACING CHIP # 3"
CLOSE #2
'STOP
T IM E $ = "0 0 :0 0 :0 0 "
T$=RIG H T$(TIM E$,2)
IF T$="22" THEN 3040
GOTO 3010
PRINT # I , "PRESET": I NPUT # 1 , IrOPEN "a5"FOR INPUT AS #2
WHILE EO F(2)=0
INPUT # 2 , L I ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
PRINT # 1 ,"@ Q W R IT E ";L 1;L 2;L 3;L 4;L 5;L 6;L 7;L 8:IN P U T #1 , I
WEND
P R INT#I ,"©RUN":INPUT#I , I
LOCATE 1 6 , IOrPRINTnPLACING CHIP # 4"
CLOSE #2
T IM E $ = "0 0 :0 0 :0 0 "
T$=RIG H T$(TIM E$,2)
IF T$="22" THEN 3180
GOTO 3150
PRINT # 3 , "©RESET":INPUT # 3 , IrOPEN "b6"FOR INPUT AS #2
WHILE EO F(2)=0
INPUT # 2 ,L 1 ,L 2 ,L 3 ,L 4 ,L 5 ,L 6 ,L 7 ,L 8
PRINT # 3 ,"© Q W R IT E " ;L 1 ;L 2 ;L 3 ;L 4 ;L 5 ;L 6 ;L 7 ;L 8 :IN P U T # 3 ,I
WEND
PR INT#3, "©RUN"r I NPUT#3, I
LOCATE 1 8 , IOrPRINTnREMOVING FINISHED BOARD"
CLOSE #2
T IM E $ = " 0 0 :0 0 :0 0 " :'P R IN T rPRINT"
SETTING NEXT CYCLE"
T $= R IG H T $(T IM E $,2): LOCATE 2 2 , IOrPRINT TIME$
106
3300
3310
3320
3330
3660
5140
5150
5160
F ig u r e 3 5 .
(C o n t in u e d )
IF T$="33" THEN 3660
GOTO 3290
P R INT#I , "@RESET": I NPUT#I , I
PR INT#3, "@RESET": IN P U T#3,I
NEXT C
CLOSE #1
CLOSE #3
END
MONTANA STATE UNIVERSITY LIBRARIES
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