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Layout design optimisation with point cloud object modelling for multi-robot industrial working cell

The paper proposes a multi-robot cell design method by integrating the concepts of computer aided design, optimisation and point cloud modelling in the layout planning problem. The point cloud data of machines and robots have been used through a MATLAB programming interface to generate the optimal layout design. The minimum angular displacement of robot joints is the optimisation criterion, and axis align bounding box collision detection method has been used to obtain accurate solutions. The developed layout is validated against the data collected from an industrial robotic cell.