Scheduling method of robotic cells with machine–robot process and time window constraints

Robotic cells are widely used in the fields of incorporate automation and repetitive processing. Throughput analysis and scheduling of robotic cells with machine process have been well studied, while research work on robotic cells with machine–robot process in which robots concurrently perform collaborated tasks in addition to part transportation is still at an early stage. After defining the concepts of internal and external time window constraints, we propose a robotic cell scheduling problem with machine process and machine–robot process simultaneously, when processing time window is an essential constraint. According to the constraints in real engineering practice, a mathematic model of single-gripper robotic cells is established to minimize the average manufacturing cycle time. A shifting bottleneck searching algorithm is proposed based on the basis of analyses. In addition, a lower bound for the average manufacturing cycle time is established. Finally, through extensive simulation experiments, the numerical and experimental results demonstrate that the shifting bottleneck searching provides optimal or near optimal solutions.

[1]  Gerd Finke,et al.  Complexity of One-Cycle Robotic Flow-Shops , 2003, J. Sched..

[2]  Xiaoguang Yang,et al.  Optimal Cyclic Multi-Hoist Scheduling: A Mixed Integer Programming Approach , 2004, Oper. Res..

[3]  Bing-Hai Zhou,et al.  Scheduling Algorithm of Multi-cluster Tools Based on Time Constraint Sets: Scheduling Algorithm of Multi-cluster Tools Based on Time Constraint Sets , 2012 .

[4]  Chelliah Sriskandarajah,et al.  Scheduling in robotic cells: Complexity and steady state analysis , 1998, Eur. J. Oper. Res..

[5]  Pengyu Yan,et al.  A branch and bound algorithm for optimal cyclic scheduling in a robotic cell with processing time windows , 2010 .

[6]  Shengwei Ding,et al.  Multicluster tools scheduling: an integrated event graph and network model approach , 2006, IEEE Transactions on Semiconductor Manufacturing.

[7]  Marc E. Posner,et al.  Generating Experimental Data for Computational Testing with Machine Scheduling Applications , 2001, Oper. Res..

[8]  H. Neil Geismar,et al.  Sequencing and Scheduling in Robotic Cells: Recent Developments , 2005, J. Sched..

[9]  Chelliah Sriskandarajah,et al.  Scheduling Multiple Parts in a Robotic Cell Served by a Dual-Gripper Robot , 2004, Oper. Res..

[10]  Hyun Joong Yoon,et al.  On-line scheduling of robotic cells with post-processing residency constraints , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[11]  H J Yoon,et al.  Scheduling for deadlock avoidance operation in robotic manufacturing cells , 2010 .

[12]  Chengbin Chu.  A faster polynomial algorithm for 2-cyclic robotic scheduling , 2006, J. Sched..

[13]  Mehdi Heydari,et al.  Applying Metaheuristic Algorithms for Output Rate Analysis in Two-Machine Robotic Manufacturing Cells , 2013 .

[14]  Jungyun Kim,et al.  Multi-agent-based scheduling methods for hybrid cellular production lines in semiconductor industry , 2014 .

[15]  Chengbin Chu,et al.  Cyclic multiple-robot scheduling with time-window constraints using a critical path approach , 2007, Eur. J. Oper. Res..

[16]  Yves Crama,et al.  Cyclic scheduling in robotic flowshops , 2000, Ann. Oper. Res..

[17]  Chelliah Sriskandarajah,et al.  Minimizing cycle time in large robotic cells , 2005 .

[18]  H. Neil Geismar,et al.  Robotic cells with parallel machines and multiple dual gripper robots: a comparative overview , 2008 .

[19]  Zhu Wang,et al.  Bottleneck-based scheduling method of multi-robot cells with residency constraints , 2015, Int. J. Comput. Integr. Manuf..

[20]  Chelliah Sriskandarajah,et al.  Scheduling in Dual Gripper Robotic Cells for Productivity Gains , 2001, IEEE Trans. Robotics Autom..

[21]  Mohamed Haouari,et al.  Exact methods for the robotic cell problem , 2011 .

[22]  Feng Chu,et al.  Multicyclic hoist scheduling with constant processing times , 2002, IEEE Trans. Robotics Autom..

[23]  Bing-Hai Zhou,et al.  Modelling and scheduling analysis of multi-cluster tools with residency constraints based on time constraint sets , 2013 .

[24]  R. S. Gyurcsik,et al.  Single-wafer cluster tool performance: an analysis of throughput , 1994 .

[25]  Wieslaw Kubiak,et al.  Sequencing of parts and robot moves in a robotic cell , 1992 .

[26]  Vahid Kayvanfar,et al.  Enhanced intelligent water drops and cuckoo search algorithms for solving the capacitated vehicle routing problem , 2016, Inf. Sci..

[27]  Vahid Kayvanfar,et al.  Hybrid intelligent water drops algorithm to unrelated parallel machines scheduling problem: a just-in-time approach , 2014 .

[28]  L. W. Phillips,et al.  Mathematical Programming Solution of a Hoist Scheduling Program , 1976 .

[29]  Jiafan Zhang,et al.  LCM cycle based optimal scheduling in robotic cell with parallel workstations , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[30]  Chelliah Sriskandarajah,et al.  Scheduling Dual Gripper Robotic Cell: One-Unit Cycles , 2006, Eur. J. Oper. Res..

[31]  Shengwei Ding,et al.  Steady-State Throughput and Scheduling Analysis of Multicluster Tools: A Decomposition Approach , 2008, IEEE Transactions on Automation Science and Engineering.

[32]  Xin Li,et al.  Try and error-based scheduling algorithm for cluster tools of wafer fabrications with residency time constraints , 2012 .

[33]  Nikos A. Aspragathos,et al.  Time-Optimal Task Scheduling for Two Robotic Manipulators Operating in a Three-Dimensional Environment , 2010 .

[34]  Junzo Watada,et al.  Biological computation of optimal task arrangement for a flexible machining cell , 2008 .