Time-optimal motion planning of multiple collaborative robots for pick-and-place tasks

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dc.contributor.advisorMehrandezh, Mehran
dc.contributor.authorRodrigues Pereira dos Santos, Ricardo
dc.contributor.committeememberDai, Liming
dc.contributor.committeememberKabir, Golam
dc.date.accessioned2024-11-08T20:39:24Z
dc.date.available2024-11-08T20:39:24Z
dc.date.issued2024-08
dc.descriptionA Thesis Submitted to the Faculty of Graduate Studies and Research In Partial Fulfillment of the Requirements for the Degree of Master of Applied Science in Industrial Systems Engineering, University of Regina. xi, 157 p.
dc.description.abstractThe ongoing revolution in robotic automation presents unparalleled opportunities and complex challenges for manufacturing industries. This thesis investigates optimization strategies for a fundamental robotic action: pick-and-place operations. Utilizing MATLAB's Robotics Toolbox, we devise detailed simulations, ranging from dual-robot static workflows (Scenario 1) to conveyor-integrated dynamism (Scenario 2). This research employs diverse optimization techniques that leverage both kinematic modeling and an analysis of robot dynamics for trajectory planning. The outcome? Significantly shortened task execution times through iterative trajectory refinement and tailored adjustments to the simulated work environment. Results not only underscore the tangible impact of simulation-driven optimization, but also point towards conveyor speed control as a key avenue for driving further efficiency gains. These findings offer a framework for continued improvement, and aim at facilitating real-world implementation of these optimized, robotic motion-planning strategies across future manufacturing contexts. Keywords: Robotic Manipulation, Optimization, Simulation, MATLAB, Trajectory Planning, Manufacturing Automation, Dynamics
dc.description.authorstatusStudenten
dc.description.peerreviewyesen
dc.identifier.urihttps://hdl.handle.net/10294/16520
dc.language.isoenen
dc.publisherFaculty of Graduate Studies and Research, University of Reginaen
dc.titleTime-optimal motion planning of multiple collaborative robots for pick-and-place tasks
dc.typeThesisen
thesis.degree.departmentFaculty of Engineering and Applied Science
thesis.degree.disciplineEngineering - Industrial Systems
thesis.degree.grantorUniversity of Reginaen
thesis.degree.levelMaster'sen
thesis.degree.nameMaster of Applied Science (MASc)
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