Optimal task sequence planning for high speed robotic assembly using simulated annealing

Optimal task sequence planning using a simulated annealing technique is dev eloped for a high speed assembly station comprised of two robots. In order to minimize the tact time, parts are assembled by dual robots on moving wor kpieces which are transferred by a precision conveyer. The sequence of oper ations by the dual robots is optimized to minimize the tact time while avoi ding the geometric and dynamic interferences between the dual robots. The o ptimization problem is a type of traveling salesman problem, but is highly complicated because the target destinations for placing individual parts ke ep moving on the conveyer. The speed of the conveyer which carries the work pieces should be also optimized in order to maximize the throughput of the assembly system. The task sequence optimization problem is formulated toget her with the problem of determining the conveyer speed. An efficient algori thm for the sequence optimization is developed and solved by the simulated annealing.