Transitory Assembly Scheduling based on deterministic Correlation Functions

We present a deterministic scheduling approach for flexible assembly lines and robotic workcells based on n-dimensional collision functions. By collision functions, the different process plans which include parallel robot operations are correlated and coordinated. Feasible schedules only exist for zero correlation. Coordination parameters are the release time intervals for each individual process. The scheduling algorithms rest upon an extended Gantt chart representation for the process plans which model the exclusive use of space resources.