On Optimizing Bin Picking and Insertion Plans for Assembly Robots

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Abstract
In robotic assembly stations robots pick a series of component parts from bins and then insert and assemble them. Several approaches are described and formulated for optimizing bin organization, picking, and insertion sequence and route. Solution procedures are developed for several modes of assembly tasks. The Simple Assembly Plan problem (SAP) is defined and solved. Extensions to this problem are heuristically solved by separating the SAP problem into the Bin Assignment Problem (BAP) and the Pick-Insert Sequencing (PIS) problem. We then define and formulate a new version of the assignment problem which is termed the Minimax Assignment Problem (MAP). An algorithm for the solution of this problem is developed and tested.

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