An intelligent robotic framework for automated assembly

Abstract

Recent applications of robots for industrial automation have shown significant improvement in manufacturing processes in terms of reducing labor participation, enhancing flexibility, efficiency and quality of the products. However, most applications are limited to point-to-point and noninteractive operations in which the availability of a highly structured setup is a prerequisite. This prompts the vast emergency of researches on intelligent robotics that are aimed to improve the adaptability, flexibility and dexterity so as to enhance the intelligence of industrial robots. This paper investigates the designs of intelligent robotic systems and discusses the proposed criteria required to achieve an intelligent robotic system. A proposed conceptual framework for robotic assembly is then presented that contains two main parts, namely, a robotic state recognizer and a control strategy generator. In addition to these two components, the integration of compliant motion control into the framework will be described. An example of using the proposed framework to develop a robotic assembly system is given.