Optimization of the traveling sequence of a “pick and place" robot by simulating its operation as a traveling salesman problem

Abstract

This paper presents an approach to a problem of practical concern to the optimum guidance of a robot of at least two degrees of freedom but which may also have a direct application in any scientific field where optimum and near optimum solutions for the traveling salesman problem is needed. It is shown that the optimization of the traveling pattern of a surface mounting robot constitutes a TSP. Thereafter, the developed technique is applied to generate the traveling sequence of the robot. Results of examples are presented to illustrate the developed method and its effect in increasing the robot's throughput. The examples are real word applications of printed circuit board population. The production line consists of picking up IC's and other components and placing them at preprogrammed places on a board.