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3D layout planning for robotic workcells with task-aware motion optimization: Generalization and real implementation
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DOI：10.1016/j.rcim.2026.103310.png)
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Abstract
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• A hybrid NSGA-II-PSO algorithm optimizes 3D robotic Workcell layouts. • Task, grasp, and motion constraints are integrated for executable layouts. • Surrogate models accelerate optimization with reduced computation. • Generalization validated across diverse robotic Workcell scenarios including real-world cases. • Results show layout compactness and high manipulation success rates.
Keywords:
3D layout planning
robotic workcells
NSGA-II-PSO algorithm
task-aware motion optimization
surrogate models
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