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.