Title: Layout design optimisation with point cloud object modelling for multi-robot industrial working cell

Authors: Ankit Sharma; A.K. Jha

Addresses: Department of Mechanical Engineering, Indian Institute of Technology, Banaras Hindu University, Varanasi, 221005, India ' Department of Mechanical Engineering, Indian Institute of Technology, Banaras Hindu University, Varanasi, 221005, India

Abstract: The paper proposes a multi-robot cell design method by integrating the concepts of computer aided design, optimisation and point cloud modelling in the layout planning problem. The point cloud data of machines and robots have been used through a MATLAB programming interface to generate the optimal layout design. The minimum angular displacement of robot joints is the optimisation criterion, and axis align bounding box collision detection method has been used to obtain accurate solutions. The developed layout is validated against the data collected from an industrial robotic cell.

Keywords: multi-robot cell; MRC; optimisation; point cloud modelling; CAD.

DOI: 10.1504/IJISE.2019.101116

International Journal of Industrial and Systems Engineering, 2019 Vol.32 No.3, pp.363 - 381

Received: 08 May 2017
Accepted: 09 Oct 2017
Published online: 24 Jul 2019 *

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