Optimal Robot Placement for Tasks Execution
Paper i 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.

path planning

cell layout

Robotics

optimization

Författare

Domenico Spensieri

Chalmers, Produkt- och produktionsutveckling, Produktutveckling

Johan Carlson

Chalmers, Produkt- och produktionsutveckling, Produktutveckling

R. Bohlin

J. Kressin

J. Shi

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

Ämneskategorier

Maskinteknik

Produktionsteknik, arbetsvetenskap och ergonomi

Matematik

Data- och informationsvetenskap

Styrkeområden

Produktion

DOI

10.1016/j.procir.2016.02.105

Mer information

Skapat

2017-10-07