The application of inverse kinematics in the optimum sequencing of robot tasks

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Abstract

This paper addresses one of the operational problems associated with the application of robots to industrial systems: the optimum sequencing of robotic task performance. The application of inverse kinematics in determining the sequence that minimizes the cycle time in a robot cell is described. An extension of the Travelling Salesman Algorithm is found to be suitable for obtaining the optimum sequence and cycle time.

Original languageEnglish (US)
Pages (from-to)75-90
Number of pages16
JournalInternational Journal of Production Research
Volume28
Issue number1
DOIs
StatePublished - Jan 1990

All Science Journal Classification (ASJC) codes

  • Strategy and Management
  • Management Science and Operations Research
  • Industrial and Manufacturing Engineering

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