Achieving reliability using behavioural modules in a robotic assembly system

摘要

The research in this thesis looks at improving the reliability of robotic as¬ sembly while still retaining the flexibility to change the system to cope with dif¬ ferent assemblies. The lack of a truly flexible robotic assembly system presents a problem which current systems have yet to overcome. An experimental sys¬ tem has been designed and implemented to demonstrate the ideas presented in this work. Runs of this system have also been performed to test and assess the scheme which has been developed.