Logical structure of assembly with robots

This paper deals with the operation "assembly" meaned as logical complex operation, wich has the aim to create a structure, which is independent from the physical system on which the robot has to work. This logical structure allows the careful analysis of the robot's operative situations, the prevision of eventual negative facts which influence the movement activity, the generation of alternative situations and finally the acquisition of the auton omous decision by the control of the system. The strategy of the obstacles avoidance constitutes the first step in the construction of a supervisory structure of the robot's operativity by controlling the physical interactions with the environment and optimizing the behaviour as in the unfavourable cases.