製造ダウンタイム削減のための搬送マニピュレータの適応的動作計画に関する基礎的研究

抄録

Unexpected interruptions in manufacturing such as machine breakdowns incurs degradation of productivity.This study aims to build an automatic scheduling method that can respond to the occurrence of uncertain events flawing a schedule and catch up with the planned schedule as quickly as possible. We here focus on building an adaptive operation planning of a material handling robot according to the predetermined schedule revision policy to cope with uncertainties and to reduce the total downtime of the manufacturing system. The applicability of the proposed method is demonstrated through physical experiments.