Optimal Motion Planning and Layout Design in Robotic Cellular Manufacturing Systems

Tomoya Kawabe, Ziang Liu, Tatsushi Nishi, Md Moktadir Alam, Tomofumi Fujiwara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A multi-objective optimization algorithm is proposed in this paper for motion planning and layout design in robotic cellular manufacturing systems. The sequence-pair is used to represent the layout of a robotic cell, which can avoid the overlapping of modules. For each layout, the robot motion planning using Rapidly exploring Random Trees (RRT) is conducted to compute the total operation time. A non-dominated Sorting Genetic Algorithm II (NSGA-II) is used to minimize the layout area and operation time. The proposed method is applied to a 6-DOF (Degree of Freedom) robot manipulator, Niryo Ned. In the experiments, a Pareto set is obtained. The experimental results suggest the tradeoff relationship between the operation time and layout area. The findings show that the proposed method can efficiently solve the optimal motion planning and layout design problem in robotic cellular manufacturing systems.

Original languageEnglish
Title of host publicationIEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2022
PublisherIEEE Computer Society
Pages1541-1545
Number of pages5
ISBN (Electronic)9781665486873
DOIs
Publication statusPublished - 2022
Event2022 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2022 - Kuala Lumpur, Malaysia
Duration: Dec 7 2022Dec 10 2022

Publication series

NameIEEE International Conference on Industrial Engineering and Engineering Management
Volume2022-December
ISSN (Print)2157-3611
ISSN (Electronic)2157-362X

Conference

Conference2022 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2022
Country/TerritoryMalaysia
CityKuala Lumpur
Period12/7/2212/10/22

Keywords

  • cellar manufacturing
  • layout design
  • motion planning
  • Robotics
  • sequence-pair

ASJC Scopus subject areas

  • Business, Management and Accounting (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Safety, Risk, Reliability and Quality

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