机器人制造单元的建模与任务调度策略

机器人资源的合理分配和调度是提高制造单元柔性的关键。本文针对一类机器人制造单元的最小周期调度问题，应用极大代数方法建立了单元系统的调度模型，提出了基于禁忌搜索的启发式调度策略，并给出了初始可行解和搜索邻域的构造方法；最后，通过具体的运算实例，验证了所提出方法具有较高的效率，能够解决较大规模的最小周期调度问题，具有广泛的适用性。

Modeling and Task Scheduling Strategy for Robot Manufacturing Cell

Properly scheduling and dispatching robot resource is very important for improving flexibility of the robotic cell system. Taking the cyclic scheduling problem for robot manufacturing cell as subject investigated, a scheduling model of the cell system is constructed by using max-algebra method.A tabu search strategy for finding minimal cycle time is proposed, and the construction method of initial solution and search neighborhood is also given in this paper. Computation sample shows that the search method in this paper has good performance. It can solve cyclic scheduling problem for large scale robotic cells and has broad applicability.