Contribution to the scheduling of trajectories in robotics

Robotics and Computer-Integrated Manufacturing

Volumn 14, Issue 3, 1998, Pages 237-251

  Petiot, Jean François ^a   Chedmail, Patrick ^a   Hascoët, Jean Yves ^a  

^a ECOLE CENTRALE DE NANTES   (France)

Author keywords

Configurations optimisation; Connectionist algorithm; Cycle time optimisation; Path planning; Redundant robots; Robotics; Scheduling; Travelling salesman problem

Indexed keywords

ALGORITHMS; INDUSTRIAL ROBOTS; MOTION PLANNING; REDUNDANCY; ROBOT APPLICATIONS; SCHEDULING; TRAVELING SALESMAN PROBLEM; TWO DIMENSIONAL;

CONNECTIONIST ALGORITHM; CYCLE TIME OPTIMIZATION; REDUNDANT ROBOTS;

ROBOTICS;

EID: 0032090490     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0736-5845(97)00032-X     Document Type: Article

References (35)

1. ROBCAD: Technomatix France, Le Parc Gutenberg, 5 voie la Cardon, 91126 Palaiseau Cedex.
2. Cimstation. Cimstation 5.1, Manuel de référence, Société SILMA, Parc du moulin de Massy, 41, Rue du Saule Trappu, CE222, 91882, MASSY Cedex France.
3. ACT-Lib.: Version 4.2, ALEPH Technologies, BP 295, 16, rue du tour de l'eau, 38407 St Martin d'Hères Cedex, 1995.
4. Shin KG, McKay ND. Selection of near minimal time geometric paths for robotic manipulators. IEEE Trans Automatic Control 1986;31(6):501-11.
5. Dubowski S, Blubaugh TD. Planning time-optimal robotic manipulator motions and work places for point-to-point tasks. IEEE Trans Robotics Automation 1989;5(3):377-81.
6. Borenstein J, Koren Y. Task-level tour plan generation for mobile robots. IEEE Trans Systems, Man and Cybernetics 1990;20(4): 938-43.
7. Abdel-Malek L, Zhining L. The application of inverse kinematics in the optimum sequencing of robot tasks. Int J Prod Res 1990;28(1):75-90.
8. Edan Y, Flash T, Peiper UM, Shmulevich I, Sarig Y. Near-minimum-time task planning for fruit-picking robots. IEEE Trans Robotics Autom 1991;7(1):48-55.
9. Fardanesh B, Rastegar J. Minimum cycle time location of a task in the worspace of a robot arm. Twentyseventh Conference on Decision and Control, Austin, Texas. 1988;2:2280-83.
10. Chedmail P, Wenger P. Design and positionning of a robot in an environment with obstacles using optimal research. Actes IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, USA. 1989;2:1069-74.
11. Little JDC, Murty KG, Sweeney DW, Karel D. An algorithm for the travelling salesman problem. Oper Res 1963;11:979-89.
12. Durbin R, Willshaw D. An analogue approach to the travelling salesman problem using an elastic net method. Nature 1987;326: 689-91.
13. Lawler EL, Lenstra JK, Rinooy Khan AHG, Shmoys DB. The Travelling Salesman Problem., New York. Wiley, 1985.
14. Karg RL, Thompson GL. A Heuristic approach to solving travelling salesman problems. Management Sci 1964;10(2):225-46.
15. Held M, Karp RM. A Dynamic Programming Approach to Sequencing Problems. SIAM 1962;10:196-210.
16. Carlier J, Villon P. A new heuristic for the travelling salesman problem. Recherche Opérationnelle 1990;24(3):245-53.
17. Hopfied JJ, Tank DW. Neural computation of decisions in optimization problems. Biol Cybern 1985;52:141-52.
18. Kohonen T. Self-organization formation of topologically correct feature maps. Biol Cybern 1982;43:59-69.
19. Lin S. Computer solutions of the traveling salesman problem. Bell Syst Tech J 1965;44:2245-69.
20. Kirkpatrick S, Gelatt CD, Vecchi MP Jr. Optimization by simulated annealing. Science 1983;220(4598):671-80.
21. Brady RM. Optimization strategies gleaned from biological evolution. Nature (London) 1985;317:804-6.
22. Wilson GV, Pawley GS. On the stability of the travelling salesman problem algorithm of Hopfield and Tank. Biol Cybern 1988;58:63-70.
23. Angéniol B, De la Croix Vauboix G, Le Texier J-Y. Self-organizing feature maps and the travelling salesman problem. Neural Networks 1988;1:289-93.
24. Petiot JF. Contribution à l'ordonnancement de trajectoires en robotique. Thèse de doctorat de l'Ecole Centrale de Nantes et de l'Université de Nantes, 1993.
25. Petiot J-F, Chedmail P, Gèrardin B. Robotic tasks scheduling in industrial environment, 13th Symposium on Engineering Applications of Mechanics. CSME 96, Hamilton, Canada, 1996; 239-44.
26. Shanno DF. Conditioning of quasi newton methods for function minimization. Math Comput 1970;24:641-56.
27. Paul RP. Robot Manipulators: Mathematics, Programming and Control, Cambridge: MIT Press, 1981.
28. Borrel P. Contribution à la modélisation géométrique des robots manipulateurs. Application à la conception assistée par ordinateur. Thèse de Doctorat d'Etat. Mention Sciences Université des Sciences et Techniques du Languedoc, 1986.
29. Khatib O. Real time obstacle avoidance for manipulators and mobile robots. Int J Robotics Res 1986;5(1):90-98.
30. Warren CW. Global path planning using artificial potential fields. Actes IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, 1989:316-21
31. IMSL: IMSL Library of Subroutines, Houston, Texas, 1987.
32. Dissanayake MWMG, Gal JA. Workstation planning for redundant manipulators. Int J Production Res 1994;32(5):1105-18.
33. Gérardin B. Ordonnancement de leiches robotisées. Thèse de doctorat de l'Ecole Centrale de Nantes et de l'Université de Nantes, 1996.
34. Faure R. Précis de Recherche Operationnelle, Editions Dunod.
35. Lin S, Kernighan B. An effective heuristique algorithm for the travelling salesman problem. Oper Res 1973;21:498-516.