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中文摘要：
为了有效解决机器人制造单元中考虑机器人约束加工（Robot Restricted Processing,RRP）的调度问题,提出了基于时间约束集的调度策略.通过内外驻留和基本周期等概念对RRP问题进行描述,以系统平均制造周期最小作为目标,建立综合考虑RRP、驻留及资源约束的调度数学模型.为最优化机器人作业顺序,提出了一种禁忌循环时间点（Tabu Circulatory Time Point,TCTP）搜索算法.并且进行了仿真实验分析,结果表明该算法是可行且有效的.
英文摘要：
To solve a scheduling problem of manufacturing cells with robot restricted processing （RRP）, a scheduling strategy based on time constraints was proposed. Firstly, a non-free robotic process was formally described by introducing novel concepts of internal and external residencies and fundamental period. A mathematical programming model considering characteristics of the non-free robotic process, resources and residency constraints was established to minimize the average manufacturing cycle time. To optimize robot-arm movements, a tabu circulatory time point searching algorithm was constructed. Finally, analysis of simulation experiments was implemented. Results indicate that the proposed algorithm is valid and feasible.
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