Automated Planning of Workcell Layouts Considering Task Sequences

Abstract

The initial design of a robotic workcell layout has a large impact on the feasibility and performance of the intended robotic tasks. We define this layout design as a constrained nonlinear optimization problem that aims to optimize the placement of workcell components by minimizing the distance traveled between task sequences while maximizing the robot's manipulability. Suitable constraints guarantee the reachability as well as the absence of collisions. We solve this optimization problem via a genetic algorithm, and demonstrate it in three scenarios for a dual-arm robotic system that assembles product variants out of aluminum profiles.