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algorithm analysis applied approach Archimedes 4.0 Assembly and Task assembly features assembly modeling assembly planning assembly process assembly sequence assembly systems automated assembly automatically axis components Computer Conf configuration configuration space constraint manager constraints cost defined described Design for Assembly developed disassembly Engineering evaluation example feasible fixturing flexible force framework function Genetic Algorithms geometric gripper IEEE IEEE International Symposium implemented input integration joint kinematic kinematic pairs machine manipulator manufacturing matrix method module motion planning node object obtained optimal orientation path planning path representation performed planner Portugal position precedence graph problem Proc process planning product design recycling representation represented Robotics and Automation rotation screw theory shown in Figure simulation solution space specific step strategy structure subassembly Symposium on Assembly Task Planning Porto tool trajectory twistmatrix variables vector workcell workstation