Optimising robot workcell layout

This paper describes a heuristic algorithm for optimising the layout of a robot workcell. The algorithm attempts to minimise the total path of travel of a robot arm for a given sequence of operations by determining the relative positions and orientations of the stations in the workcell. A unique spatial representation system is used to model the shapes and orientation of the stations in the workcell. The representation is very flexible and can closely represent the shapes of many common types of peripheral machine encountered in a robot workcell. The algorithm has been implemented on an IBM compatible PC and the results obtained are promising.