Integrated trajectory and base placement optimization of a dual-arm robotic system for liquid filling applications

Brief Project Description

The project involves the development of an integrated optimization framework in which robot base poses are treated as decision variables jointly with trajectory planning, considering time optimality as a decision criterion, therefore answering the question: how fast can a given operation be performed, and what is the optimal layout to achieve it? A representative use case is considered, namely the on-the-fly filling of a row of vials using syringes, followed by the placement of the vials in a weighing station, involving two cooperating robots: one dedicated to transporting the vials and the other to handling the syringes. The study further evaluates how different optimization criteria, cycle time, energy consumption, and task-induced dynamic constraints, can be integrated in the optimization framework, and affect the final system configuration.

This thesis is conducted in collaboration with: IMA-UNIBO DIGIMECH

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