Energy conscious scheduling of a material handling robot in a manufacturing cell

Sinan Gürel*, Hakan Gultekin, Vahid Eghbal Akhlaghi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

40 Citations (Scopus)


In cyclic scheduling of material handling robots in manufacturing cells, a common approach is to minimize the cycle time objective, which is a measure of the throughput of the cell. In a typical robot move cycle, robot move times constitute a significant portion of the cycle time. During handling operations, robots consume significant amount of energy, which is determined by their speed, load and the distance they travel. In this paper, we propose considering robot speed decisions along with robot move sequencing decisions in a robotic cell scheduling problem. We study the trade-off between the cycle time and the energy consumption of a robot in a robotic cell which produces identical parts. In this cell, the robot loads and unloads the machines. Each machine performs a different operation on a part and the robot moves linearly along a track. We provide models to find efficient solutions for cycle time and robot energy consumption objectives in an m-machine robotic cell. In a case study for two machine robotic cell, we show that robot speed control can lead to significant savings in energy consumption.

Original languageEnglish
Pages (from-to)97-108
Number of pages12
JournalRobotics and Computer-Integrated Manufacturing
Publication statusPublished - Aug 2019


  • Cyclic scheduling
  • Energy consumption
  • Robot speed control
  • Robotic cells

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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