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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 931048, 10 pages
Research Article

Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots

Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València-Camino de Vera s/n, 46022 Valencia, Spain

Received 25 July 2014; Revised 20 September 2014; Accepted 22 September 2014

Academic Editor: Shaofan Li

Copyright © 2015 Francisco Rubio et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.