Optimization of cycle time and kinematic energy in a robot/conveyor system with variable pick-up locations

In automated manufacturing, a robot/conveyor system uses a robot to pick up parts that continuously arrive from a moving conveyor. To improve system efficiency, a variable pick-up location approach directs the robot to pick up parts before they reach the end of conveyor at a fixed point. The trade-off between robot move cycle time and kinematic energy is balanced by an optimization model based on optimum control theory in minimizing both simultaneously. Simulation results of several numerical examples show that the variable pick-up location approach consistently outperforms the conventional fixed pick-up method. Both cycle time and kinematic energy are reduced. The research results may be used for robot system planning by providing guidelines to detailed trajectory planning. Future research can include applications to the control of other robotic systems, such as manufacturing cells.