Abstract
This paper presents various projects which are being developed at the Institute for Informatics at the Robotics Research Group. Several of these projects will be integrated to support the development of an autonomous assembly robot. With its two arms under sensor guidance, the robot will be capable of assembling a standard benchmark (workpieces). To achieve mobility, the robot will be equipped with a self-propelled platform. Several vision systems are employed in order to support the navigation of the robot and the assembly task. An AI-based system is being developed for assembly planning, implicit programming, route planning (obstacle avoidance), assembly monitoring, and error recovery.
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