Assembly Automation Using Advanced Robot Control Software

Abstract The paper deals with first results of a R & D project for automation of complex assembly operations. An experimental system was developed to solve a real assembly problem, the mounting fo an air supercharger, which is complex enough to serve as a pilot solution for similar technological tasks. The hardware consists of an articulated robot with special assembly gripper and sensors, a 2D vision system and a local net of micro and minicomputers. The developed software is divided into a control part and an off-line programming part, which provides two levels of user communication. Algorithms for automatic programming of assembly sequences and generation of collision-free trajectories are included.