Determining Optimal Assembly Sequences for a Robotic Autonomous Assembly Task

This paper proposes a genetic algorithm to determine the optimal assembly sequence for a robotic autonomous assembly task. The coding rule of chromosomes, the selection, crossover and mutation operations are presented. In order to avoid invalid chromosomes, a modified crossover operation is suggested. In addition, a specific fitness table is created to evaluate a random assembly sequence. Some simulation results are employed to validate the effectiveness and accuracy of the proposed approach.