A Learning-Based Assembly Sequence Planning Method Using Neural Combinatorial Optimization With Satisfactory Generalization Ability

This paper proposes a specific and effective real-time sequence planning method using robot manipulators to complete complex assembly tasks. Many previous studies developed different traversal methods to obtain the optimal assembly sequence. Besides, a number of algorithms were proposed to enhance f...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2024-11, p.1-13
Hauptverfasser:	Hou, Ruiming, Xu, Sheng, Yang, Chenguang, Duan, Jianghua, Wu, Xinyu, Xu, Tiantian
Format:	Artikel
Sprache:	eng
Schlagworte:	Assembly Assembly sequence planning (ASP) contact matrix Cost function Costs Manipulators neural combinatorial optimization (NCO) Optimization Planning pointer network Production reinforcement learning (RL) Robot kinematics Robots Stability analysis
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