loading
Documents

Research.Publish.Connect.

Paper

Authors: Thomas Fridolin Iversen and Lars-Peter Ellekilde

Affiliation: University of Southern Denmark, Denmark

ISBN: 978-989-758-264-6

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.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.87.61.215

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Iversen, T. and Ellekilde, L. (2017). Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 110-121. DOI: 10.5220/0006438201100121

@conference{icinco17,
author={Thomas Fridolin Iversen. and Lars{-}Peter Ellekilde.},
title={Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={110-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006438201100121},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima
SN - 978-989-758-264-6
AU - Iversen, T.
AU - Ellekilde, L.
PY - 2017
SP - 110
EP - 121
DO - 10.5220/0006438201100121

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.