Travelling salesman problem concerning to manipulator Kawasaki FS03N trajectory formation

Modern Engineering

工业技术（总论）

Kulakov, B.^1^2 ; Kulakov, D.^1^2

Peoples Friendship University of Russia, RUDN University, 6 Miklukho-Maklaya St, Moscow

117198, Russia^1

Bauman Moscow State Technical University, 5 Second Baumanskaya Street, Moscow

105005, Russia^2

关键词: Bellman function;    Dynamic programming methods;    One-one mapping;    Performance criterion;    Trajectory formation;    Traveling time;    Travelling salesman problem;    Travelling salesman problem (TSP);   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/589/1/012038/pdf
DOI  :  10.1088/1757-899X/589/1/012038

学科分类：工业工程学

来源: IOP

【 摘 要 】

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.