Robot Cell Layout Optimization Using Constraint-Based Variable Selection
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Solution Overview
Problem
Existing systems require extensive calculations to optimize the layout of robot cell systems, including work targets and other components, leading to inefficiencies due to the large number of variables involved.
Innovation Solution
An equipment layout adjustment system that includes a calculation device and storage device to optimize the layout by selecting decision variables based on position and posture constraints, reducing the number of variables through constraint-based optimization and trajectory planning for robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If all variables indicating position and posture of all objects (robot, work target, work-related objects) are used for optimization calculation, then the optimization can consider all factors comprehensively, but the amount of calculation becomes enormous
Solution Approach 1:
The patent extracts only the necessary decision variables from the complete set of position and posture variables. By identifying and selecting only those variables that actually affect the robot operation evaluation, the system reduces the calculation scope from all objects to a subset of critical objects, thereby reducing computational complexity while maintaining optimization effectiveness.
Solution Approach 2:
The patent segments the optimization problem by dividing objects into different categories (robot, work target object, work-related object) and applying different variable selection criteria to each category. This segmentation allows the system to handle complex optimization by breaking it down into manageable parts with different levels of detail.
2Adaptability or versatility
If position and posture variables of all objects are included in optimization, then layout adjustment can be comprehensive, but device complexity increases
Solution Approach 1:
The patent extracts and removes unnecessary variables from the optimization system. By identifying variables that do not significantly impact the robot operation evaluation, the system simplifies the optimization model while maintaining its ability to produce effective layout adjustments.
Solution Approach 2:
The patent applies different levels of detail to different objects based on their importance. Critical objects (robot, work target) have their position and posture variables included, while less critical objects (certain work-related objects) have their variables excluded or simplified, creating a differentiated optimization approach that reduces overall system complexity.
Data Source
AI summary
An equipment layout adjustment system includes a calculation device and a storage device. The storage device holds position and posture constraint information indicating a constraint on a position and a posture of an object. The object includes at least a robot, a work target object that is a target on which the robot performs work, and a work-related object that constrains a position and a posture of the work target object. The calculation device selects, based on the position and posture constraint information, a decision variable to be subjected to calculation for optimization of an objective function of evaluating an operation of the robot from among variables indicating the position and the posture of the object, calculates a trajectory of the robot based on the decision variable, and specifies, based on the calculated trajectory of the robot, a value of the decision variable so as to optimize the objective function.