An outline of a modular and multiarm assembly cell with object-oriented control

A novel modular, multipurpose, and multiarm (M/sup 3/) assembly robot cell type with high-level object-oriented control is presented. The M/sup 3/ assembly cell is based on a modified orthogonal linear structure. The highest control levels are planned to be based on an object-oriented database by which product model, sensor data, and control programs are represented. The idea of the control scheme is to use past sensor information to fine-tune or adapt the cell to slightly changing situations or to detect and recover from errors. The controller is implemented on a PC network so that part of the control algorithms can be distributed.<
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