DocumentCode :
2960542
Title :
Optimization of industrial manipulators cycle time based on genetic algorithms
Author :
Zacharia, Pardskevi Th ; Aspragathos, Nikos A.
fYear :
2004
fDate :
26-26 June 2004
Firstpage :
517
Lastpage :
522
Abstract :
High productivity requires that industrial robots should perform complex tasks in the minimum possible cycle time. The problem of determining the optimum route of a manipulator´s end effector visiting a number of task points is an extension of the well-known travelling salesman problem (TSP). Adapting TSP to industrial manipulators task scheduling, the measure to be optimized is the time instead of the distance and the travel time between any two points is affected by the choice of the manipulator´s configuration. Therefore, the multiple solutions of the inverse kinematics problem should be taken into account. In this paper, a new method is introduced to solve the scheduling problem for a point-to-point manipulator motion and it can be applied to any non-redundant manipulator. This method is based on genetic algorithms and an innovative encoding is introduced to take into account the multiple solutions of the inverse kinematics. The results show that the method can determine the optimum sequence of a considerable number of task points for a 6-DOF manipulator
Keywords :
end effectors; genetic algorithms; industrial manipulators; production engineering computing; scheduling; travelling salesman problems; end effector; genetic algorithms; industrial manipulators cycle time optimization; inverse kinematics problem; optimum route; point-to-point manipulator motion; task scheduling; travelling salesman problem; Encoding; End effectors; Genetic algorithms; Job shop scheduling; Kinematics; Manipulators; Productivity; Service robots; Time measurement; Traveling salesman problems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Informatics, 2004. INDIN '04. 2004 2nd IEEE International Conference on
Conference_Location :
Berlin
Print_ISBN :
0-7803-8513-6
Type :
conf
DOI :
10.1109/INDIN.2004.1417399
Filename :
1417399
Link To Document :
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