Robot workspace estimation and base placement optimisation techniques for the conversion of conventional work cells into autonomous flexible manufacturing systems

Robot workspace estimation and base placement optimisation techniques for the conversion of conventional work cells into autonomous flexible manufacturing systems M. F. Alya; A. T. Abbasb; S. M. Megahedc a Mechanical Engineering Department, The American University in Cairo, New Cairo, Egypt b Mechanical Engineering Department, Engineering College, King Saud University, Riyadh, Saudi Arabia c Mechanical Design and Production Department, Faculty of Engineering, Cairo University, Giza, Egypt