Darkhan Yermekbay

Feasibility-Driven Assembly and Welding Planning for a Dual-Robot Steel Fabrication Cell

Assembling a welded steel structure with robots requires deciding whether an entire assembly—dozens of parts, each needing a collision-free pick-up, press-fit placement, and welding—is executable at all, and under which positioning of the workpiece. We describe and evaluate the planning system deployed in an industrial...