An integrated intelligent approach and system for rapid robotic assembly prototyping, planning and control

This paper provides an integrated intelligent approach to rapid robotic assembly prototyping, planning and control. The developed RAPID assembly system can process various types of knowledge in assembly design, process and task planning, and assembly operation control. It provides the possibility for integrating a development team to work over a network and allows concurrent and cooperative specification, design, planning and analysis of complex mechanical systems and assemblies. The generation and experimental implementation and verification of a CAD-driven hybrid neuro-fuzzy control strategies for robotic assembly are presented. In particular, the use of neuro-fuzzy expert Petri net for assembly and task planning and Prolog as computer language for the specification of the discrete event system in operations control is proposed. Details are given for the vision-guided robotic assembly implementation, together with experimental validation of the concepts, hardware and software system using a sample optic lens assembly