A general, hierarchical model for describing automated assembly systems is developed in this work. This hierarchical model allows any complex assembly system to be decomposed into simpler sub-systems. This decomposition can be applied recursively to generate a multi-level system structure. Planning and control can be performed on each part of this structure and, if necessary, between parts. The...

This paper describes SPAR, a task planner that has been implemented on a PUMA 762. SPAR is capable of formulating manipulation plans to meet specified assembly goals; these manipulation plans include grasping and regrasping operations if they are deemed necessary for successful completion of assembly. SPAR goes beyond the classical AI planners, in the sense that SPAR is capable of solving geome...