抄録
In this paper, a flexible robotic assembly system with decentralized architecture is studied. The system is designed to achieve high reconfigurability so that it can adapt to changes in its manufacturing environment; a new robot can be easily installed into the system and execute assembly tasks immediately, together with other devices. A semi-automated calibration method for positions of newly installed robots is integrated to the system, which enhances the reconfigurability of the system significantly. The management mechanism of positional information resulting from installation/removal of assembly devices is also described. We refer to such system functions that support easy reconfiguration as “Plug & Produce.”
Our implementation of the assembly system consists of conventional manipulators and a belt conveyor. In the experiment, a new mobile manipulator was easily added into the system and it performed assembly operation successfully with other existing devices.
