Path optimization is desirable in many problem instances occurring in discrete manufacturing and pick and place technology. The problem may refer to applications ranging from two-dimensional movements such as in milling processes to three-dimensional movements required in many robotic operations. The optimal path can be found using tour construction techniques, sub tour elimination techniques and tour to tour improvement techniques. The limits to which these solution methodologies can be applied are restricted to a certain number of nodes. The optimal path for two- and three-dimensional TSP is determined using a stochastic search procedure based on a tour improvement technique. An optimal solution is presented for 500 node TSP in two dimensions. A procedure for finding optimal path for an even larger number of nodes is outlined. The optimal path in three dimensions is also presented using nodes distributed along the periphery of three-dimensional primitives. [S1087-1357(00)71601-7]

Issue Section:
Technical Papers
Keywords:
machine theory, robot kinematics, optimisation, manufacturing processes, tools, travelling salesman problems
Topics:
Algorithms, Dimensions, Machinery, Manufacturing, Optimization, Simulated annealing, Probability, Computers, Robotics
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