Assembly line productivity assessment by comparing optimization-simulation algorithms of trajectory planning for industrial robots

DOI10.1155/2015/931048MaRDI QIDQ1666976zbMATH OpenOpenAlexWikidataFDO

Authors F. J. Rubio, Carlos Llopis-Albert, Josep Lluís Suñer, Francisco J. Valero

Publication date 27 August 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/931048

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Review text

Summary: In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.

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• scientific article; zbMATH DE number 4089297

Cites work

• A trigonometric trajectory generator for robotic arms
• Minimum-time control of robotic manipulators with geometric path constraints
• Optimal pose trajectory planning for robot manipulators
• Smooth and time-optimal trajectory planning for industrial manipulators along specified paths
• Trajectory planning in workspaces with obstacles taking into account the dynamic robot behaviour

Cited in

(1)

• A case study evaluating the ergonomic and productivity impacts of partial automation strategies in the electronics industry

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