engleski

Cooperative Robotic Assembly System

Conventional robotic assembly system organization is mostly oriented toward single products or a small number of product variants. Robot behavior in most of today’s industrial environments is controlled from the classical aspect of automatic control. A central system controller governs the assembly process and autonomy within groups of robots or at the level of an individual robot is strictly limited. In this paper a formal model is presented where each robot is an autonomous entity (agent) capable of sensing, acting and decision making. Hardware support in terms of various 2D and 3D vision systems, F/T and other simple sensors allows the robots to interact with the environment and among each other. A formal coordination and communication model is presented for information sharing and negotiation purposes in the multiagent system.

Industrial robotic systems; Robotic assembly; Multiagent systems; Collaborative framework

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