SROMA: an adaptive scheduler for robotic assembly systems

The authors present a program, SROMA, which is an adaptive scheduler for robots functioning in a mechanical assembly domain. In particular, they describe: (1) the underlying scheme for representing an assembly task and the assembly plan for that task; and (2) the underlying control scheme for combining goal-directed and data-driven mechanisms into a coherent process. The feasibility of the authors' approach to the online scheduling for assembly robots based on the schemes is demonstrated by some preliminary simulation results.<>