Integrating Task and Motion Planning for Manufacturing Processes

The synergy between the robot’s abilities and human expertise provides several advantages in the industrial processes. A proper integration of Task and Motion Planning (TAMP), considering the interaction of the user with the environment is essential to maximize the benefits of robot-assisted tasks and to ensure safety in collaborative H-R tasks. However, the state of the art of the TAMP research field should be improved to overcome the limitations of the traditional TAMP approaches to be used in industrial scenarios. We illustrate a list of challenges to be solved in order to improve to manage efficiently the dynamism and uncertainty given by introducing a human operator into a robotized process of draping fiber carbon plies, with reference to the granted European Project DrapeBot. Finally, the proposed TAMP architecture is presented to address the challenges described.