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《China Mechanical Engineering》 2016-19
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Path Sorting Optimization of Robotic End-effector by Improved ACA

Zhang Tie;Su Jiewen;South China University of Technology;  
For the path sorting optimization of robotic end-effector in robotic machining,a solution was presented,that established mathematical model for this problem and converted it to generalized traveling salesman problem(GTSP)and solved this problem by ACA.Meanwhile,the classical ACA was improved with multi stage search strategy,neighborhood search strategy and multi ant type strategy,so that the improved ACA was able to calculate a more optimized end-effector path for robotic machining.The results of simulation and robotic machining prove that the end-effector path obtained by improved ACA is shorter than 3% above the basic ACA's.
【Fund】: 国家科技重大专项(20152X04005006);; 广东省科技计划重大专项(2014B090921004 2014B090920001)
【CateGory Index】: TP18;TP242
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