Working Cycle Sequence Optimization for Industrial Robots

Abstract

Trajectory optimization of a robotic work cell plays a fundamental role in productivity improvement. However, in some specific applications, such as robotic deburring, it is also possible to reduce cycle time by finding the best task order. In this paper, the well known Travelling Salesman Problem has been provided by additional constraints in order to solve the problem mentioned above. Moreover, such an approach has been applied to a specific industrial task.