  This paper proposes a novel assembly planner for a manipulator which can
simultaneously plan assembly sequence, robot motion, grasping configuration,
and exchange of grippers. Our assembly planner assumes multiple grippers and
can automatically selects a feasible one to assemble a part. For a given AND/OR
graph of an assembly task, we consider generating the assembly graph from which
assembly motion of a robot can be planned. The edges of the assembly graph are
composed of three kinds of paths, i.e., transfer/assembly paths, transit paths
and tool exchange paths. In this paper, we first explain the proposed method
for planning assembly motion sequence including the function of gripper
exchange. Finally, the effectiveness of the proposed method is confirmed
through some numerical examples and a physical experiment.
