Fully automated two-robot assembly cell

The problem of scheduling for a two-robot assembly cell is formulated, and an algorithm is proposed to resolve the problem. Such a cell is able to process more than one type of assembly task and each type can be performed more than once (usually many times). All the parts are input to the cell through a conveyor belt in a serial order. They are identified online using an overhead camera and a side camera. Both robots are identical in terms of their assembly function, i.e., each of them can perform any type of assembly task. The proposed scheduling algorithm, after integrating the online assembly planning and motion planning, optimizes the makespan performance measure