TECHNOLOGIES FOR ROBUST AGILE MANUFACTURING

* Department of Electrical Engineering and Applied P hysics † Department of Computer Engineering and Science ‡ Department of Mechanical and Aerospace Engineering ABSTRACT This paper describes advances in developing key software, sensing/control, and parts-handling techn ologies enabling robust operation of an agile manufacturing workcell. In particular, we discuss: a modular sof tware architecture that supports real-time feedback, proc ess scheduling, and workcell extensions; simulation for error detection, visualization, and diagnosis; flexible s n ors allowing multiple, programmable quality checks; a generic robot API permitting plug-and-play of heterogeneous robot controllers/networks; flexible fe ders accommodating a large variety of parts, including medium-sized and rolling parts; and agile gripper d sign methods enhancing speed and reliability of parts ha ndling.

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