Authors:
Thomas Fridolin Iversen
and
Lars-Peter Ellekilde
Affiliation:
University of Southern Denmark, Denmark
Keyword(s):
Robot Workcell Optimization, Optimization Algorithms, Industrial Robotics.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Manufacturing Systems Engineering
;
Optimization Algorithms
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.