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