One of the most important robotic applications in manufacturing is automated assembly. The design and implementation of a robotic assembly system is a costly and time consuming problem. Additionally, if techniques that assume a known environment and known constraints are used, the whole system must be redesigned when some of the assumptions are no longer valid. The purpose of this paper is to provide a method for a flexible intelligent assembly system using the hierarchical model. The focus is on the product model abstraction level and an expert system for assembly is designed based on fuzzy logic. This system called OPASSEQ provides the optimum assembly sequence that satisfies the given constraints and goals. An example illustrates how the system works.
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