A robotic assembly sequencing system

This paper presents an integrated approach of developing the automatic assembly sequence planning system for robot-based assembly automation. It provides an off-line robot assembly system with an 'automatic re-programming' feature that enables a robot to practice an assembly task off-line and then to use it as the knowledge to generate other feasible assembly sequence plans so that the robot can re-program itself. In addition to demonstrating with this exercise the close link between robot assembly programming and planning, a new scheme of assembly sequencing model for fast planning from a set of task sequences is discussed.