Author(s)

F. Sprumont & J.P. Miiller

Abstract

KASBA: a knowledge-based system for flexible assembly execution F. Sprumont & J.-P. Miiller Institut d'Informatique et Intelligence Artificielle, Universite de Neuchdtel, Chantemerle 20, CH-2000 Neuchdtel, Switzerland ABSTRACT The planning and the execution of an assembly task need to solve constraints depending both on the product and on the tools, expressing uncertainty and unpredictability. The system KASBA (for Knowledge and Sensor Based Assembly) is a flexible executor for assembly tasks. It is composed of a reasoning mod- ule and a robot system integrating a robot manipulator and exteroceptive sensors of vision and forces. The characteristics of KASBA are that the rea- soning module uses directly the assembly expertise of the method engineer to solve the unpredictability and that the robot system is able to solve the uncertainty in real time during the execution. The expertise of the method engineer, as in manufacture for manual as- sembly, is contained

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