Multi-station test scheduling optimization method for industrial robot servo system
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ORIGINAL RESEARCH
Multi‑station test scheduling optimization method for industrial robot servo system Shaomin Tang1 · Guixiong Liu1 · Zhiyu Lin1 · Xiaobing Li2 Received: 29 July 2020 / Accepted: 22 September 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract This study examined the test scheduling optimization problem of industrial robot servo system (IRSS) samples with unequal numbers of different types of test items on the multiple IRSS comprehensive test platforms with the same function. In order to improve IRSS performance test efficiency, a multi-station test scheduling optimization method, which combines IRSS sample-level scheduling and test item-level scheduling, was proposed. First, the IRSS sample-level scheduling was carried out, and a model was established with reference to the identical parallel machine problem (IPMP). The optimal result of IRSS sample-level multi-station scheduling was obtained by solving the model. Second, based on the result of IRSS sample-level multi-station scheduling, and taking the ideal optimal test completion time of IRSS multi-station scheduling as the target, the test items at the stations were reallocated to obtain the optimal scheduling result. Finally, an application example was used to verify the efficiency of the proposed method, and the experiment result showed that the proposed method can effectively fulfill the optimal allocation of different IRSS test items of multiple IRSS samples on multiple IRSS comprehensive test platforms. The test time was 247 min shorter than the conventional sequential parallel test and only one min longer than the ideal optimal test completion time. Keywords Industrial robot · Servo system · Performance testing · Scheduling model · Scheduling optimization
1 Introduction The industrial robot servo system (IRSS) is the execution unit that completes the specific trajectory movement of industrial robots. Its main task is to make the driving device output the corresponding torque, speed and position according to the control instructions from the control system, so that the industrial robot can respond to the external changing load flexibly and complete the specified tasks (Brogardh 2009). Therefore, the IRSS directly affects the movement speed, positioning accuracy, bearing capacity and operating performance of industrial robots, and it is the core component of industrial robots (Yuan et al. 2019). As a result, effective, objective and scientific testing of IRSSs are very
* Guixiong Liu [email protected] 1
School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
CEPREI, Guangzhou 510610, China
2
helpful in improving the design, development, promotion and application of the IRSS and industrial robots. Our research team has conducted several studies for IRSS testing, including combing the IRSS test items and their test standards as well as technical requirements, and building a comprehensive test platform for multiple IRSS test items. Figure 1 shows the
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