Manipulation order optimization in industrial pick-and-place operations: application to textile and leather industry

This work addresses the problem of the development of a robotic system for the picking of parts cut by a CNC machine and the optimization of the sequencing of this picking process. An automated parts collection system is optimized to reduce the time required to perform the task of both picking and the subsequent classification by the type of part. The automated picking system, which is located at the end of a cutting machine, uses a robot equipped with an additional axis to expand its working space. Therefore, in this proposal, the industrial equipment necessary to automate this process is designed and the process to be optimized is computationally modeled. In particular, three discrete optimization algorithms are analyzed, with different evolution strategies and operators, but all of them are free of specific configuration parameters. The whole process is shown in this research, from the design of the procedure to the design of the tool, the algorithm selection, and elements validation. Finally, the first steps towards its industrial implementation are presented, and the hypothesis behind this project is validated.