[1B4-GS-2] Machine learning

[1B4-GS-2-01] Multiple Path Planning Using Multiple Constraint Handling Techniques for Car Painting Robot Arms

〇Yuya Nagai¹, Ayane Tajima¹, Hiromitsu Nakamura², Yuta Higashizono², Satoshi Ono¹ (1. Kagoshima University, 2. TOYOTA AUTO BODY Research & Development)

Keywords:Genetic Algorithm, Vehicle Routing Problem, Combinatorial Optimization Problem, Multiple Path Planning for Car Painting, Multiple Robot Arms

Multiple robot arms’ path planning for car painting is a process that requires engineers to spend a lot of time using simulators, and there is a need for automation and reduction of planning time. While methods for car welding have been extensively studied, the car painting problem requires specific constraints such as painting a moving car on a line without stopping and painting order to maintain painting quality, making it difficult to directly apply conventional methods. This study proposes a path planning method of multiple robot arms for car painting using evolutionary computation. The proposed method can handle multiple constraints separately in each optimization process according to their characteristics. Experiments of path planning for four arms painting a car side confirmed that the proposed method can find paths similar to those designed by human experts.