A genetic algorithm based approach to search optimal assembly sequences for autonomous robotic assembly

摘要

A Genetic Algorithm (GA) based approach is proposed in this paper to search optimal assembly sequences in a robotic autonomous assembly task. In particular, the chromosome definition, the operations of crossover, copy and mutation and a specific fitness table are presented. Some simulation results are employed to validate the effectiveness of the proposed approach. The simulation results also indicate that the modified GA algorithm proposed in this paper has better performance than the traditional GA algorithm.