Workpiece Layout Optimization in a Multi-Robot Welding System

- Rectangular Workpiece Case -

Abstract

Multi-robot systems have been introduced actively in heavy industries in order to increase the productivity. We have already developed the path optimization system under the condition that workpiece layout is specified. This paper aims the minimization of load of the maximally loaded robot by optimizing rectangular workpiece layout in the working stage. We have proposed an algorithm combinating taboo-search and nonlinear programming. Results of numerical experiments show effectiveness of the proposed method.