WITHIN REACH: A GRAPHICAL PROGRAM FOR EVALUATING ROBOT WORKCELL LAYOUTS.

Abstract

Most layout development tools only model the geometry of the objects in the workcell. Galop/2D also models the operations to be accomplished, making it easier for the developer to optimize the layout. An efficient layout satisfies the geometric and equipment constraints and is optimal with respect to a 'cost' objective. Cost measures depend on the application; possibilities include the distance traversed by the manipulator, the time for the application, or the energy expended.