Service-oriented robotic manufacturing system (SORMS) is an integrated system, in which the industrial robots (IRs) operate within a service-oriented manufacturing model, and can be virtualized and servitized as services, so as to provide on-demand, agile, configurable, and sustainable manufacturing capability services to users in workshop environment. Manufacturing capability of such systems can be divided into three layers, including manufacturing cell layer, production process layer, and workshop layer. However, currently most of the existing works carried out the optimization on each layer individually. Manufacturing cells are the component parts of a production process, and there are close relationships between them and can affect the operation and performance for each other; therefore, it is essential to jointly consider the manufacturing capability service optimization on both layers. In this context, a cross-layer optimization model is proposed to conquer the existing limitation and provide a comprehensive performance assurance to SORMSs. The proposed model has different decision-making mechanisms on each layer, and the communications and interaction between the two layers can further coordinate the optimizations. A case study based on robotic assembly is implemented to demonstrate the availability and effectiveness of the proposed model.

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