Assembly planning considering a posture of a subassembly -search of a posture of a subassembly to avoid collision using genetic algorithm

摘要

An automatic generation of assembly or diassembly sequences is a significant problem for assemblies using robot manipulators. We need to judge feasibility of assembly/disassembly taks based on geometric information of products. In previous research, only translation motion of subassembly has been considered. However, there are many cases in which a subassembly can be separated from another subassembly using rotational motion.