Evaluation and selection of assembly plans

Author

De Mello, L. S Homem ; Sanderson, A.C.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

1588

Abstract

Two criteria are introduced for the evaluation and selection of assembly plans. The first criterion is to maximize the number of different sequences encompassed by the assembly plan. The second criterion is to maximize the amount of parallelism (i.e., simultaneity) that is possible in the execution of the assembly tasks. While the metrics corresponding to the criteria used in previous work can be expressed as a sum of terms, each being a function of a task or a state, the metrics corresponding to the criteria introduced are more complex functions of the whole assembly plan. An algorithm that performs a heuristic search for the best assembly plan over an AND/OR graph representation of assembly plans is presented. Admissible heuristics for each of the two criteria are presented

Keywords

assembling; heuristic programming; planning (artificial intelligence); trees (mathematics); AND/OR graph representation; assembly plans; heuristic search; metrics; parallelism maximization; simultaneity maximization; trees; Assembly; Entropy; Fixtures; Laboratories; Propulsion; Stability criteria; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126236

Filename

126236