ASPW-DRL: assembly sequence planning for workpieces via a deep reinforcement learning approach
ISSN: 0144-5154
Article publication date: 23 August 2019
Issue publication date: 18 February 2020
Abstract
Purpose
This paper aims to automatically plan sequence for complex assembly products and improve assembly efficiency.
Design/methodology/approach
An assembly sequence planning system for workpieces (ASPW) based on deep reinforcement learning is proposed in this paper. However, there exist enormous challenges for using DRL to this problem due to the sparse reward and the lack of training environment. In this paper, a novel ASPW-DQN algorithm is proposed and a training platform is built to overcome these challenges.
Findings
The system can get a good decision-making result and a generalized model suitable for other assembly problems. The experiments conducted in Gazebo show good results and great potential of this approach.
Originality/value
The proposed ASPW-DQN unites the curriculum learning and parameter transfer, which can avoid the explosive growth of assembly relations and improve system efficiency. It is combined with realistic physics simulation engine Gazebo to provide required training environment. Additionally with the effect of deep neural networks, the result can be easily applied to other similar tasks.
Keywords
Acknowledgements
This work is supported by National Natural Science Foundation of China (Grant No. U1613210 and Grant No. 61603200).
Citation
Zhao, M., Guo, X., Zhang, X., Fang, Y. and Ou, Y. (2020), "ASPW-DRL: assembly sequence planning for workpieces via a deep reinforcement learning approach", Assembly Automation, Vol. 40 No. 1, pp. 65-75. https://doi.org/10.1108/AA-11-2018-0211
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited