Minimum-time anti-swing motion planning of cranes using linear programming

2012 ◽  
Vol 34 (2) ◽  
pp. 191-201 ◽  
Author(s):  
J.J. Da Cruz ◽  
F. Leonardi
Keyword(s):  
Linear Programming ◽  
Motion Planning ◽  
Minimum Time

Developing Schedule With Linear Programming (Case Study: STTF II Project Komplek Sukamukti Banjaran)

2020 ◽  
Vol 4 (02) ◽  
pp. 34-45
Author(s):  
Naufal Dzikri Afifi ◽  
Ika Arum Puspita ◽  
Mohammad Deni Akbar
Keyword(s):  
Linear Programming ◽  
Objective Function ◽  
Project Scheduling ◽  
Time Limit ◽  
Minimum Time ◽  
Service Cost ◽  
Trade Off ◽  
Overtime Work ◽  
The Cost

Shift to The Front II Komplek Sukamukti Banjaran Project is one of the projects implemented by one of the companies engaged in telecommunications. In its implementation, each project including Shift to The Front II Komplek Sukamukti Banjaran has a time limit specified in the contract. Project scheduling is an important role in predicting both the cost and time in a project. Every project should be able to complete the project before or just in the time specified in the contract. Delay in a project can be anticipated by accelerating the duration of completion by using the crashing method with the application of linear programming. Linear programming will help iteration in the calculation of crashing because if linear programming not used, iteration will be repeated. The objective function in this scheduling is to minimize the cost. This study aims to find a trade-off between the costs and the minimum time expected to complete this project. The acceleration of the duration of this study was carried out using the addition of 4 hours of overtime work, 3 hours of overtime work, 2 hours of overtime work, and 1 hour of overtime work. The normal time for this project is 35 days with a service fee of Rp. 52,335,690. From the results of the crashing analysis, the alternative chosen is to add 1 hour of overtime to 34 days with a total service cost of Rp. 52,375,492. This acceleration will affect the entire project because there are 33 different locations worked on Shift to The Front II and if all these locations can be accelerated then the duration of completion of the entire project will be effective

A modeling method for collision detection and motion planning of robots

Robotica ◽  
1993 ◽  
Vol 11 (3) ◽  
pp. 217-226 ◽  
Author(s):  
Chia-Ju Wu
Keyword(s):  
Linear Programming ◽  
Motion Planning ◽  
Directed Graph ◽  
Collision Detection ◽  
Convex Polyhedron ◽  
Modeling Method ◽  
Planning Problem ◽  
Linear Programming Problems ◽  
Sampling Instant ◽  
Motion Planning Problem

SUMMARYA modeling method for robots is proposed, in which a convex polyhedron is represented as a set of inequalities and a robot is represented as a union of convex polyhedrons. With this method, collision between robots can be detected by solving a set of linear programming problems at every sampling instant. By detecting possible collision at every sampling instant, a directed graph for robots is created. The motion planning problem of robots is then transformed into a path searching problem in the directed graph and can be solved by exisiting searching algorithms.

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