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An integrated interface tool for the architecture for agile assembly

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2 Author(s)
Gowdy, J. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Butler, Z.J.

Developing automated assembly systems normally happens in two distinct stages: first an “off-line” stage in which the system is designed and programmed in simulated and then an “online” stage in which the simulation results are used to minimize the deployment and integration time of the physical machines. The distinction is so great that usually completely different software environments are used in the design phase than are used in the deployment and operation phase. We present the architecture for agile assembly (AAA), a comprehensive integrated framework that is designed to blur these stages together and ease the transitions between them. We have used the protocols of AAA to create an integrated interface tool which can be used throughout the life-cycle of a developing AAA factory, from its design to its operation. We have tested the integrated interface tool both in simulation and with our prototype hardware, which is designed for high precision four-degree-of-freedom assembly

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Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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