The impact on rack configuration on the speed profile of the storage and retrieval machine

The travel-time models of automated storage/retrieval machines, proposed by Chang et al., which consider the speed profiles in real world applications, have been extended in this paper to investigate the impact on the rack configuration. The results demonstrate that the optimal rack configuration of the single-command cycle is square-in-time whereas the dual-command cycle may not be. Furthermore, the travel times for both single- and dual-command cycles are quite insensitive to the deviation in the length of the rack configuration.