Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima

Thomas Fridolin Iversen, Lars-Peter Ellekilde

2017

Abstract

The main contribution of this paper is a method for optimizing the layout of workcells taking into consideration both the reachability of the robot as well as the expected cycle time. To analyse the reachability for systems using sensors to pose estimate objects, the method uses a combination of discrete samples over the space in which objects are located and a manipulability measure based on the determinant of the manipulator Jacobian. To compute the expected cycle time for the robot, the method includes a simulated controller, which is optimized to estimate the performance of the physical robot. For the optimization of the workcell layout the proposed method based on applying Gaussian penalties in local minima is compared to three existing methods for global optimization. For the optimization of the simulated controller three different local methods are compared along with one global.

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Paper Citation


in Harvard Style

Iversen T. and Ellekilde L. (2017). Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 110-121. DOI: 10.5220/0006438201100121


in Bibtex Style

@conference{icinco17,
author={Thomas Fridolin Iversen and Lars-Peter Ellekilde},
title={Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={110-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006438201100121},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima
SN - 978-989-758-264-6
AU - Iversen T.
AU - Ellekilde L.
PY - 2017
SP - 110
EP - 121
DO - 10.5220/0006438201100121