2017 2021 eng preprint 0 2021-07-08 -- -- A basic task in the design of an industrial robot application is the relative placement of robot and workpiece. Process points are defined in Cartesian coordinates relative to the workpiece coordinate system, and the workpiece has to be located such that the robot can reach all points. Finding such a location is still an iterative procedure based on the developers' intuition. One difficulty is the choice of one of the several solutions of the backward transform of a typical 6R robot. We present a novel algorithm that simultaneously optimizes the workpiece location and the robot configuration at all process points using higher order optimization algorithms. A key ingredient is the extension of the robot with a virtual prismatic axis. The practical feasibility of the approach is shown with an example using a commercial industrial robot. https://arxiv.org/pdf/1811.07137.pdf urn:nbn:de:bvb:898-opus4-20176 publish Martin Georg Weiß eng uncontrolled optimization deu swd Intralogistik deu swd Industrieroboter deu swd Programmgenerierung deu swd Nichtlineare Optimierung eng uncontrolled robotics Naturwissenschaften und Mathematik Fakultät Informatik und Mathematik Diamond Open Access - OA-Veröffentlichung ohne Publikationskosten (Sponsoring) Research Center for Artificial Intelligence - RCAI Digitale Transformation Ostbayerische Technische Hochschule Regensburg https://opus4.kobv.de/opus4-oth-regensburg/files/2017/Optimization_with_Configuration_Selection.pdf