Coordinated assembly in a heterogeneous robotic work cell
Multiple robots are programmed to complete a complexkitting, part transfer, and assembly operation. The work cell consists offive robots from different manufacturers, and are controlled usingNIST-proprietary software for coordination such that they all operate in thesame coordinate system. Parts are picked from feeders and placed into akit tray. That kit tray is then transferred to a second work cell viahand-offs between robots. At the second work cell, the parts are thenremoved from the kit tray and physically mated to form a final assembly. Once the assembly is completed, the part is returned to the kit tray, andreturned to the first work cell, where it is removed, and the kit tray isreset. The process then restarts with a new assembly.