Knowledge based error recovery in robotized assembly

Presents a framework of an online knowledge based error recovery system for robotized assembly, which deals with problems of execution monitoring, sensor processing, failure diagnosis and recovery. The system is of modular and hierarchical structure. Techniques have been integrated into each functional module. Based on the presented framework, the authors have also investigated the way to implement the proposed system in their testbed. The prototype has been realized at the first stage using V+ as the main tool