Optimal Robot Placement for Tasks Execution
Paper in proceeding, 2016

Automotive assembly cells are cluttered environments, including robots, workpieces, and fixtures. Due to high volumes and several product variants assembled in the same cell, robot placement is crucial to increase flexibility and throughput. In this paper, we propose a novel method to optimize the base position of an industrial robot with the objective to reach all predefined tasks and minimize cycle time: robot inverse kinematics and collision avoidance are integrated together with a derivative-free optimization algorithm. This approach is successfully used to find feasible solutions on industrial test cases, showing up to 20% cycle time improvement.


cell layout


path planning


Domenico Spensieri

Fraunhofer-Chalmers Centre

Johan Carlson

Fraunhofer-Chalmers Centre

R. Bohlin

Fraunhofer-Chalmers Centre

J. Kressin

Fraunhofer-Chalmers Centre

J. Shi

General Motors

Procedia CIRP - 6th CIRP Conference on Assembly Technologies and Systems, CATS 2016, Gothenburg, Sweden, 16-18 May 2016

2212-8271 (ISSN)

Vol. 44 395-400

6th CIRP Conference on Assembly Technologies and Systems, CATS 2016
Gothenburg, Sweden,

Subject Categories

Mechanical Engineering

Production Engineering, Human Work Science and Ergonomics


Computer and Information Science

Areas of Advance




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