5 Conclusion
Up to now, no commercial offline programming system for robot-assisted laser remote welding exists. The Generalized Traveling Salesman Problem seems to model sequential remote welding jobs with sufficient accuracy, if adequate constraints are taken into account. Robot kinematics based on homogeneous transforms was found to be a simple tool used throughout system abstraction. It could be proven that modeling and subsequent optimization results in shorter cycle times than for robot paths obtained by empirical knowledge and intuiton. Further research options are, for instance, multiple robot facilities and coupled axes systems.
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Stemmann, J., Zunke, R. (2006). Robot Task Planning for Laser Remote Welding. In: Haasis, HD., Kopfer, H., Schönberger, J. (eds) Operations Research Proceedings 2005. Operations Research Proceedings, vol 2005. Springer, Berlin, Heidelberg . https://doi.org/10.1007/3-540-32539-5_114
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