Integrated task sequencing and path planning for robotic remote laser welding

Kovács, András (2016) Integrated task sequencing and path planning for robotic remote laser welding. INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, 54 (4). pp. 1210-1224. ISSN 0020-7543 10.1080/00207543.2015.1057626

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Abstract

This paper investigates the problem of integrated task sequencing and path planning in Remote Laser Welding (RLW). It is shown that finding the appropriate order of welding tasks is crucial for exploiting the efficiency of this new joining technology, and this can be achieved only if the robot path is considered already at the time of sequencing. For modelling the problem, a novel extension of the well-know Travelling Salesman Problem with neighbourhoods and durative visits, denoted as TSP-ND, is introduced. Basic properties of this problem are formally proven, and a GRASP meta-heuristic algorithm is proposed for solving it. Extensive computational experiments demonstrate that the novel approach solves efficiently industrially relevant problems, and it achieves substantial improvement in cycle time compared to the single earlier approach in the literature dedicated to RLW, as well as compared to a decomposition approach to solving the TSP-ND model. © 2015 Taylor & Francis

Item Type: Article
Uncontrolled Keywords: motion planning; travelling salesman problem; task sequencing; Meta heuristic algorithm; Joining technology; Decomposition approach; Computational experiment; Welding; traveling salesman problem; Robot programming; MANUFACTURE; laser beam welding; joining; Heuristic algorithms; Travelling salesman problems; Sequencing; remote laser welding; path planning; manufacturing
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Research Laboratory on Engineering & Management Intelligence
SWORD Depositor: MTMT Injector
Depositing User: MTMT Injector
Date Deposited: 10 Jan 2017 08:32
Last Modified: 10 Jan 2017 08:32
URI: http://eprints.sztaki.hu/id/eprint/8876

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