Hierarchical Optimization for Robotic Cell Systems

Optimization in layouts and robot motions is an essential yet challenging task for robotic cell systems crowded spaces. In the conventional research, since posture not explicitly considered, there may be no solution or operation time long if motion optimized layout obtained by arrangement optimization. this work, focusing on importance of posture, we propose a hierarchical optimization framework that newly adds between placement Furthermore, when solving with genetic algorithm, devised objective function order to consider design constraints. We confirm proposed method can solve problem quickly experiments.