The Karlsruhe autonomous mobile assembly robot

The architecture and functions of an autonomous mobile assembly system are described. For the operation of such a system, knowledge-based planning, execution, and supervision modules are necessary which are supported by a multisensor system. The individual functions of such a vehicle are explained with the help of an autonomous mobile assembly robot. The vehicle contains a navigator, a docking module, and an assembly planner. Navigation is done with the help of a road map under the direction of the navigator. The docking maneuver is controlled by sensors and the docking supervisor. The assembly of the two robot arms is prepared by the planner and controlled by a hierarchy of sensors. The robot actions are planned and controlled by several expert systems