Assembly Sequence Planning Considering Robotic Motion Costs and Multi-Operation Constraints
Haruto Nagai, Weiwei Wan, Hiroki Suemoto, Kouichi Masaoka, Kensuke Harada
Abstract
In assembly tasks, multiple operations, such as positioning, snap-fitting, and screw fastening, are often required for a single workpiece. The multiple operations add complexity to the planning process. To address this challenge, we propose an assembly sequence planning method that considers the combination of multiple operations associated with each workpiece. We define the sequence of these operations as a "workflow" and search for an optimal assembly sequence while respecting the workflow constraints of the workpieces. Beyond handling multi-operation constraints, our method optimizes the robot’s motion costs by assigning weights to the search tree and minimizing these costs accordingly. To evaluate the effectiveness of the proposed approach, we compare assembly planning results for multi-operation tasks with and without workflow decomposition. Additionally, we analyze the influence of motion cost minimization on planning performance and computational efficiency. Experimental results verified the effectiveness of the proposed method in improving assembly planning efficiency.
BibTeX
@inproceedings{iros2025_assemblysequence,
title = {Assembly Sequence Planning Considering Robotic Motion Costs and Multi-Operation Constraints},
author = {Haruto Nagai and Weiwei Wan and Hiroki Suemoto and Kouichi Masaoka and Kensuke Harada},
booktitle = {IROS 2025},
year = {2025}
}