ICRA 2011 Paper Abstract


Paper TuA206.5

Syed, Hassan (Gyeongsang National University), Yoon, Jungwon (Gyeongsang National University)

Virtual Maintenance System with a Two-Staged Ant colony Optimization Algorithm

Scheduled for presentation during the Regular Sessions "Haptics and Haptic Interfaces I" (TuA206), Tuesday, May 10, 2011, 11:05−11:20, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Haptics and Haptic Interfaces, Virtual Reality and Interfaces, Industrial Robots


Virtual reality (VR) now a day is progressively being used in our manufacturing environments. In production or maintenance processes, the most important VR application can be assembly areas as the efficiency of a production or maintenance scheme primarily depends on the assembly and disassembly (A/D) sequence, number of gripper changes and the path used in an A/D process. In this paper, a novel optimum assembly algorithm with ant colony algorithm is proposed to solve the maintenance assembly process for 3D objects and complex environments, and to find both optimal sequence and 3D path planning. Sequentially, the assembly sequence was optimized by a traditional ant colony optimization algorithm and then, the 3D path planning with the optimized sequence information was optimized by combining an ant colony algorithm enhanced by potential field concepts. Simulation results showed that proposed algorithm has faster convergence rate towards the optimal solution when compared with existing algorithms based on genetics and traditional ant colony approach.



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