Generation of robotic assembly sequence using ant colony optimization

Abstract

A robotic assembly sequence is considered to be optimal when it minimizes assembly cost while satisfying the process constraints. The assembly cost relates to assembly operations, assembly motions and assembly direction changes. The work utilizes an ant colony optimization (ACO) for generation of robotic assembly sequences. The method relates the assembly cost to an energy function associated with the assembly sequence. The energy function is iteratively minimized to generate an assembly sequence with a minimum assembly cost is finally generated. Example problems show the effectiveness of the method. This modified method generates feasible, stable and optimal robotic assembly sequence satisfying the assembly constraints with minimum assembly cost.