ヒトとロボットの効率的な分解・解体作業を目指した進化型多数目的最適化による組立製品モデルからの順序生成

抄録

To achieve teaching-less disassembly by human operators and robots, we developed an automated sequence-generation method using only a 3D CAD model. First, to generate feasible and stable sequences, the proposed genetic algorithm generates a set of initial chromosomes based on contact and connection conditions rather than merely generating a set of random chromosomes. Second, to generate a sequence satisfying many preferred conditions under constraints, we defined constraints on feasibility and stability and designed objective functions regarding difficulty, efficiency, prioritization, and allocability. The ablation study results on sequence generation for a product (36 parts) demonstrated that the proposed method can generate feasible and stable sequences with a 100% success rate and sequences satisfying many preferred conditions needed for efficient disassembly by human operators and robots.