A current trend in assembly robotics is to use several robots with different skills that work together inside an assembly cell. The authors describe an approach to the control of such an assembly cell. The underlying idea is to minimize as much as possible to computations that have to be done online, leaving time for the control strategy. The resulting control structure is thus a database of offline computed facts which act as inputs to the online supervisor. The proposed approach was tested on a two-robot assembly cell and showed satisfactory performance. >
['David Coupez', 'Alain Delchambre', 'Pierre Gaspart']
The supervision and management of a two robots flexible assembly cell