5B1 IMPROVED IMPLEMENTATION OF AN APPROXIMATION ALGORITHM WITH FACTOR TWO FOR A CYCLIC ROUTING PROBLEM OF GRASP-AND-DELIVERY ROBOTS(Technical session 5B: Routing problems)
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概要
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In this paper, we consider a cyclic routing problem of a single grasp-and-delivery robot with unit capacity, which is working at an assembly line of printed circuit boards. The grasp-and-delivery robot arranges n identical pins from their current configuration to the next required configuration by transferring the pins one by one. The n pins support a printed circuit board from underneath to prevent it from overbending, while an automated manipulator embeds a number of electronic parts onto the printed circuit board from above. Given an initial configuration and a sequence of m required configurations, the routing problem asks to find a transfer route of the grasp-and-delivery robot which minimizes the route length over all m cycles. In this paper, we design a dynamic programming procedure to improve the empirical performance of a known polynomial time approximation algorithm with factor two, and also conduct numerical experiments to test the proposed procedure.
- 一般社団法人日本機械学会の論文
- 2011-07-02
著者
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NAGAMOCHI Hiroshi
Department of Applied Mathematics and Physics, Kyoto University
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Karuno Yoshiyuki
Department Of Mechanical And System Engineering Faculty Of Engineering And Design Kyoto Institute Of
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Nagamochi Hiroshi
Department Of Applied Mathematics And Physics Graduate School Of Engineering Kyoto University
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SHURBEVSKI Aleksandar
Graduate School of Science and Technology, Kyoto Institute of Technology
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