Robot Task Planning for Laser Remote Welding

Jannis Stemmann () and Richard Zunke ()
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Jannis Stemmann: Hamburg University of Technology (TUHH)
Richard Zunke: Hamburg University of Technology (TUHH)

A chapter in Operations Research Proceedings 2005, 2006, pp 729-734 from Springer

Abstract: 5 Conclusion Up to now, no commercial offline programming system for robot-assisted laser remote welding exists. The Generalized Traveling Salesman Problem seems to model sequential remote welding jobs with sufficient accuracy, if adequate constraints are taken into account. Robot kinematics based on homogeneous transforms was found to be a simple tool used throughout system abstraction. It could be proven that modeling and subsequent optimization results in shorter cycle times than for robot paths obtained by empirical knowledge and intuiton. Further research options are, for instance, multiple robot facilities and coupled axes systems.

Keywords: Travel Salesman Problem; Revolute Joint; Prismatic Joint; Robot Path; Kinematic Redundancy (search for similar items in EconPapers)
Date: 2006
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Persistent link: https://EconPapers.repec.org/RePEc:spr:oprchp:978-3-540-32539-0_114

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DOI: 10.1007/3-540-32539-5_114

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