Abstract
This paper presents an algorithm A* for obtaining the “best” assembly plan for a product in a multirobot system. The algorithm takes into account, in addition to the assembly times, the times needed to change tools in the robots. The objective of the plan is the minimization of the makespan. To meet this objective, the algorithm starts from the And/Or graph (compressed representation of all feasible assembly plans) and the information of each assembly task (robot and tool needed and assembly time).
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