Robot Workcell Layout Optimization Using Firefly Algorithm

  • Akif Muhtasim Alim
  • S. G. PonnambalamEmail author
  • G. KanagarajEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9873)


This paper propose firefly algorithm for optimizing the distance travel of a robot arm for a given sequence of operations by determining the relative positions and orientations of the stations in the workcell. B-Star-Tree and Sequence Pair representation schemes are used to generate the initial layouts. For a given sequence of operations, the firefly algorithm was able to achieve a layout that yields a near minimum distance of travel. Minimising the total distance travel of the robot arm indirectly minimises the cycle time of the robot workcell. Simulation results show the sequence pair representation method performs better efficiency among the two methods applied in terms of reducing the distance.



This research is supported by University Grant Commission, New Delhi under research Grant No. F-30-1/2014/RA-2014-16-OB-TAM-5658 (SA-II).


  1. 1.
    Sim, S.-K., Tay, M.-L., Khairyanto, A.: Optimisation of a robotic workcell layout using genetic algorithms. In: ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 921–930 (2005)Google Scholar
  2. 2.
    Tay, M.M., Ngoi, B.: Optimising robot workcell layout. Int. J. Adv. Manufact. Technol. 12, 377–385 (1996)CrossRefGoogle Scholar
  3. 3.
    Chung, Y., Chang, Y., Wu, G., Wu, S.: B*-tree: a new representation for non-slicing floor plans. In: Proceedings of Design Automation Conference, pp. 458–463 (2000)Google Scholar
  4. 4.
    Murata, H., Fujiyoshi, K., Nakatake, S., Kajitani, Y.: VLSI module placement based on rectangle-packing by the sequence-pair. IEEE Trans. Comput. Aided Des. Integr. Circuits Syst. 15, 1518–1524 (1996)CrossRefGoogle Scholar
  5. 5.
    Tang, X., Tian, R., Wong, D.: Fast evaluation of sequence pair in block placement by longest common subsequence computation. IEEE Trans. Comput. Aided Des. Integr. Circuits Syst. 20, 1406–1413 (2001)CrossRefGoogle Scholar
  6. 6.
    El-Baz, M.A.: A genetic algorithm for facility layout problems of different manufacturing environments. Comput. Industr. Eng. 47, 233–246 (2004)CrossRefGoogle Scholar
  7. 7.
    Jajodia, S., Minis, I., Harhalakis, G., Proth, J.-M.: CLASS: computerized layout solutions using simulated annealing. Int. J. Prod. Res. 30, 95–108 (1992)CrossRefzbMATHGoogle Scholar
  8. 8.
    Barral, D., Perrin, J.-P., Dombre, E., Liegeois, A.: Simulated annealing combined with a constructive algorithm for optimising assembly workcell layout. Int. J. Adv. Manuf. Technol. 17, 593–602 (2001)CrossRefGoogle Scholar
  9. 9.
    Yamada, Y., Ookoudo, K., Komura, Y.: Layout optimization of manufacturing cells and allocation optimization of transport robots in reconfigurable manufacturing systems using particle swarm optimization. In: Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 2049–2054 (2003)Google Scholar
  10. 10.
    Yap, H.J., Taha, Z., Dawal, S.Z.M., Chang, S.-W.: Virtual reality based support system for layout planning and programming of an industrial robotic work cell, (2014). doi: 10.1371/journal.pone.0109692 Google Scholar
  11. 11.
    Pai, Y.S., Yap, H.J., Singh, R.: Augmented reality–based programming, planning and simulation of a robotic work cell. Proc. Inst. Mech. Eng. Part B: J. Eng. Manuf. 229, 1029–1045 (2015)CrossRefGoogle Scholar
  12. 12.
    Tao, J., Wang, P., Qiao, H., Tang, Z.: Facility layouts based on differential evolution algorithm. In: Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1778–1783 (2013)Google Scholar
  13. 13.
    Jian, Z., Ai-Ping, L.: Genetic algorithm for robot work cell layout problem. In: Proceedings of IEEE World Congress on Software Engineering, pp. 460–464 (2009)Google Scholar

Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  1. 1.Advanced Engineering Platform and School of EngineeringMonash University MalaysiaBandar SunwayMalaysia
  2. 2.Department of Mechanical EngineeringThiagarajar College of EngineeringMaduraiIndia

Personalised recommendations