@article{8806141612474f36b7092d923c4eb338,
title = "Simulation-based two stage sequencing of robotic assembly operations with deformable objects",
abstract = "Automatic generation of assembly sequences for products containing deformable objects, is an important step required for fully automated production. Robotic manipulation with deformable objects involves handling uncertainty related to object deformation which should be accounted for during assembly sequence planning (ASP). This work describes a two-stage sequencing planning of robotic assembly operations with deformable objects. ASP is an NP-hard problem and many heuristics have been developed for solving it. We suggest a method that improves a purely heuristic ASP by using a heuristic stage based on genetic algorithm (GA) and an additional robotic simulation stage. The method was demonstrated with products with deformable objects and promising results were achieved.",
keywords = "Deformable objects, Genetic algorithm, Robotic assembly, Robotic simulation, Sequencing",
author = "Shir Ben-David and Ran Shneor and Shahar Zuler and Zachi Mann and Alex Greenberg and Sigal Berman",
note = "Funding Information: The work was supported by the Israel Innovation Authority as part of the ART (Assembly by Robotic Technology) consortium (grant number 67436). The authors thank Yotam Efrat, Orya Mandelbaum, and Omer Einav from Polygon, and Ehud Cohen from RoboTiCan for their assistance in preparing the production operation sequences. The authors thank Albert Harounian, from Siemens Digital Industries Software for his assistance in the development of the simulation module. Funding Information: The ow rk as w spu ported by the Israel Innovation Authority as part of the ATR (Assembly by oR botic Technology) consortium (grant number 67436). The authors thank Yotam rEf at, Orya Mandelbaum, and Omer Einav rf om Polygon, and Ehdu Cohen rf om oR boTiCan of r their assistance in preparing the prodctiou n operation seqenu ces. The authors thank Albert Haronu ian, rf om Siemens Digital Indsu tries Sotf arw e of r his assistance in the development of the simulation module. Publisher Copyright: {\textcopyright} 2021 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0); 17th IFAC Symposium on Information Control Problems in Manufacturing INCOM 2021 ; Conference date: 07-06-2021 Through 09-06-2021",
year = "2021",
month = jan,
day = "1",
doi = "10.1016/j.ifacol.2021.08.020",
language = "English",
volume = "54",
pages = "175--180",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "1",
}