/ProSeqqo

Sequencing tool over Google-OR-Tools, task representation for industrial robot applications based on GTSP.

Primary LanguageC#Apache License 2.0Apache-2.0

ProSeqqo Logo ProSeqqo

Installation
Hello World!
Task definition
Result description
Examples
Skeletons
Papers

About

Generic task sequencer that captures typical sequencing problems encountered in robot applications.

  • Easily integrated into complex solution workflows
  • Standalone executable with file interface (.seq, .json, .xml), .dll function calls, Docker contained REST
  • Provides close-to-optimal (but not necessarily optimal) solutions quickly
  • Compact solver based on an open-source VRP solver engine - Google-OR-Tools
  • Arbitrary dimension - 2D, 3D or robotic joint space planning
  • Build-in cost functions - Euclidian, Max, Manhattan, Trapezoid Time, Matrix
  • General description language to describe sequencing problems
  • Order constraints
  • Resource handling

Visual Studio 2019 Solution:

  • ProSeqqoLib - .NET 5.0 Class Library
  • ProSeqqoConsole - .NET 5.0 Console Application
  • ProSeqqoTest - .NET 5.0 MSTest Framework Application
  • ProSeqqoVisualization - .NET 5.0 WPF Application
  • Example
  • Example/HelloWorld
  • Example/Skeletons
  • * ProSeqqoWebService - ASP.NET 5.0 REST Web Service

Problem representation of ProSeqqo

Representation

Configurations defined in task space or robot configuration space in arbitrary dimensions. These configurations filled into a hierarchy; every configuration take place in a Motion, Task, Alternative and Process. The distance between the configurations can be defined by a matrix or calculated automatically with the selected function. The result of the execution is a list of Positions corresponds to the following:

  • Each of the n Processes has to be executed
  • by selecting one of the given Alternatives…
  • And executing every Task of the alternative…
  • By visiting every Configuration of one possible Motion of the given Task.

The given task translated to a general travelling salesman (GTSP) graph as an input of the Google-OR-Tools VRP solver.
Parameters and description language available here and result description is here.
Problem representation of ProSeqqo

Side constraints:

  • Precedence constraints between Motions
  • Precedence constraints between Processes
  • Only one motion used in a task (Disjunctive constraint, generated automatically)
  • Only one alternative used in a process (Disjunctive constraint, generated automatically)

Features:

  • Cyclic and acyclic sequences with optional start and finish configuration.
  • Automatic cost computation - Euclidian, Max, Manhattan, Trapezoid time
  • Arbitrary costs by matrix
  • Penalty for tool path or motion interruption.
  • Resource and resource changeover cost handling.
  • Metaheuristic configuration and time limit for VRP solver by OR-Tools.

Install:

  • Standalone executable
  • Dynamic Link Library (DLL)
  • Visual Studio 2019 Solution
  • Docker Container - REST API

Installation details are available here.

Examples:

  • Camera-based pick and place
  • Cube pick and place with multiple grasp configuration and many order constraints
  • Robotic drawing
  • Laser engraving
  • Three-step grinding of furniture parts

Hello World! available here.
Examples and description available here.
Code and file skeletons here.

Documentation:

Documentation is here.

Contributing:

If you find any bugs, please report them! I am also happy to accept pull requests from anyone.
You can use the issue tracker to report bugs, ask questions, suggest new features or personally:
Kovács András - kovacs.andras@sztaki.hu
Zahorán László - zahoran.laszlo@sztaki.hu
License