Towards Feature-based Human-robot Assembly Process Planning

The paper proposes a generic approach to automated robotic assembly process planning. Such a novel feature-based model of the assembly process is presented which can be synthesized from the standard CAD model of the product and the description of the applicable resources. As a first step towards automated planning, the paper focuses on generating constraints that ensure plan feasibility, as well as on the formal verification of fully specified plans. Examples are given from the domains of robotic remote laser welding as well as collaborative human-robot mechanical assembly.