Assembly errors can occur in a robotic assembly system. In this paper, a method that predicts an assembly error is proposed. It considers that assembly errors occur under the condition that the geometric trajectory of a mated part and the relational position and orientation of a base part are outside the allowable tolerance. A certain point, which is determined by using a physical light reflect...

An Intelligent Automated Robotic Assembly System consists of several subsystems capable of providing dynamic interactions with the environment in order to accomplish a task properly. These subsystems perform various functions like data gathering, decision making, and task execution. Although a great deal of work has been done on individual subsystems, more attention must be given to the way how...

To manipulate liquid matter at the nanometer scale, we have developed a robotic assembly equipped with a hollow atomic force microscope (AFM) cantilever that can handle femtolitre volumes of liquid. The assembly consists of four independent robots, each sugar cube sized with four degrees of freedom. All robots are placed on a single platform around the sample forming a nano-workbench (NWB). Eac...

This article presents work on integrating a dialog component with a reactive planner into an assembly construction system. Using a re-active planner with a tight connection to the dialog component enables the system to ask for user assistance when encountering execution failures. We developed an action detection based on vision to monitor the execution of robotic and human actions. The combinat...

This study describes the application of the developed model to the scheduling of the Robotic Flexible Assembly Cells (RFACs). The present study is a continuation of the paper titled “Development of a FuzzySimulation Model of Scheduling Robotic Flexible Assembly Cells”. This new model for multi-objective scheduling problems in RFACs was based on combining a fuzzy-based mathematical model with si...

This paper presents the results of a research funded by the Italian Ministry of Education, University and Research (MIUR) within the National Research Programme SPI (Innovative Production Systems), theme 3 (modular assembly systems) and developed by Electrolux Zanussi Research Center in Italy. The research objective is the development and validation of the basic components of a modular architec...

This article presents work on integrating a dialog component with a reactive planner into an assembly construction system. Using a re-active planner with a tight connection to the dialog component enables the system to ask for user assistance when encountering execution failures. We developed an action detection based on vision to monitor the execution of robotic and human actions. The combinat...

There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools to efficiently program heterogeneous robotic systems. Therefore, we created RAFCON, a graphical tool to develop robotic tasks and to be used for mission con...

This paper presents the integration of an Octree modeller, an assembly planning system, and a robotic cell to build approximate prototypes directly from 3D model data. The integration demonstrates the feasibility of an assembly based rapid prototyping approach referred to as OcBlox, which approximates Octree representations of 3D models with “Blox”. These cuboid units are automatically assemble...

Due to the complexity of scheduling flexible manufacturing systems, the generation of production schedules requires an intelligent technique. Many artificial intelligence techniques such as fuzzy logic, genetic algorithms and neural networks have been successfully applied to the scheduling of advanced manufacturing systems. One such system is Robotic Flexible Assembly Cells (RFACs). Few studies...