Abstract
This paper presents a model for the selection of optimal assembly sequences for a product in multirobot systems. The objective of the plan is the minimization of the total assembly time (makespan). To meet this objective, the model takes into account, in addition to the assembly times and resources for each task, the times needed to change tools in the robots, and the delays due to the transportation of intermediate subassemblies between different machines. An A* algorithm that solves the problem is also presented, which starts from the And/Or graph for the product (compressed representation of all feasible assembly plans).
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