Assembly: A Web-Based Multi-Robot Programming and Simulation Tool

摘要

This paper introduces a novel, open-source, web-based, end-user programming and simulation environment for multi-robot cells, called Assembly. The target audience of this tool includes people with little or no programming experience, both in industrial and non-industrial contexts. The focus of the paper will be on the web-based technologies and architecture supporting multi-robot simulation and dynamic toolpath planning with obstacle avoidance in multi-robot scenarios. The main features of the tool and the technologies that enable them are introduced and its applicability is evaluated on the basis of an exemplar industrial application.