Abstract
A computer-aided monitoring strategy for flexible assembly operations is presented. This strategy uses knowledge-based expert systems for error detection and diagnosis. The hierarchy of the system is embedded in a blackboard control structure to facilitate parallel, asynchronous communication and to enhance the flexibility of the system. The developed detection and diagnosis modules of the system were validated experimentally on a prototype robotic assembly work cell. The investigation demonstrated the uniqueness of the new system through the elimination of error propagation and the need for event backtracking if an environment change occurs.
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