Design and simulation of assembly systems with mobile robots

This paper proposes an approach to the design and operation of assembly systems that include mobile robots. It is based on a semantic model representing the robot/resource skills along with the operations that a resource has to execute. The method is implemented in a system capable of generating the assignment of operations to the proper robotic resources. Collision free paths can be generated for the assembly system robots with the help of simulation. The method is presented in a case study from the automotive industry.