Path Planning of Robot Fleet in Upside-Down Configuration

This article describes a new pick-and-place robotic system based on the use of upside-down robots: robots capable of climbing up walls or moving on ceilings in upside down. This configuration could offer an alternative to the use of delta robots. The fleet of robots is capable to pick some objects transported by a conveyor belt and download them in an unload area. Compared to delta robots, upside-down robots can move on a wider workspace and the configuration is scalable. A planning strategy for the upside-down robot fleet is presented. The identified algorithm has been simulated and its potential has been highlighted.