Travelling salesman problem concerning to manipulator Kawasaki FS03N trajectory formation

An idea of travelling salesman problem (TSP) application to an optimal manipulator path finding was implemented. A set of known poses robot should pass is given. The poses sequence may vary. A traveling time is a performance criteria to be minimized. This task was realized concerning to a special case of Kawasaki FS03N manipulator movement by dynamic programming method. A special Bellman function state notation was used that in some cases gives an ability to solve the task at industrial robot controller. The state notation rule is one-one mapping rule between TSP state and array index it is stored. © 2019 Published under licence by IOP Publishing Ltd.

Authors
Kulakov B. 1, 2 , Kulakov D. 1, 2
Conference proceedings
IOP Conference Series: Materials Science and Engineering
Publisher
Institute of Physics Publishing
Number of issue
1
Language
English
Status
Published
DOI
10.1088/1757-899X/589/1/012038
Number
012038
Volume
589
Year
2019
Organizations
  • 1 Peoples Friendship University of Russia, RUDN University, 6 Miklukho-Maklaya St, Moscow, 117198, Russian Federation
  • 2 Bauman Moscow State Technical University, 5 Second Baumanskaya Street, Moscow, 105005, Russian Federation
Keywords
Dynamic programming; Manipulators; Robot programming; Bellman function; Dynamic programming methods; One-one mapping; Performance criterion; Trajectory formation; Traveling time; Travelling salesman problem; Travelling salesman problem (TSP); Traveling salesman problem
Date of creation
24.12.2019
Date of change
24.12.2019
Short link
https://repository.rudn.ru/en/records/article/record/55094/
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