Automated planning of robot workcell layouts

摘要

An approach for planning robot workcells fully automatically in three dimensions is presented. The automation is possible by carrying out the entire layout planning process in the configuration space. To obtain a good shop floor layout in a short time, the Cartesian configuration space and fast obstacle transformation routines are used. An optimization algorithm minimizes the length of all collision-free paths required for the performance of the workcell task. A final test of the generated workcell layout, whether it is valid or not, via graphical workcell task simulations is not required. This planning approach enhances the conventional layout planning process and reduces the necessity of user interaction.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>