Optimizaton Of Robotic Manipulator For Drilling And Spot Welding Tasks

B. Vinayak, G. Satish BABU


A minimum time path technique is proposed for multi points fabricating problems in drilling/spot welding tasks. By improving the traveling schedule of the set points and the exchange way between points, the base time assembling task is acknowledged under completely using the dynamic execution of mechanical controller. As per the start-stop movement in drilling/spot welding task, the path arranging issues can be changed over into a Travelling Salesman Problem (TSP) and a progression of point to point least time move way arranging problems. Cubic Hermite interpolation polynomial is utilized to parameterize the exchange way and afterward the way parameters are improved to secure least point to point transfer time. Another TSP with least time record is made by utilizing point-point move time as the TSP parameter. The traditional Genetic Algorithm (GA) is important to get the ideal traveling program. Some base time drilling tasks of a 3-DOF robotic manipulator are utilized as guides to exhibit the viability of the proposed methodology.

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