Sensor Planning for the Error Diagnosis of Robot Assembly Tasks

A knowledge based system for the diagnosis of assembly process errors is presented. It is part of the action monitoring system of the autonomous mobile assembly robot KAMRO. The diagnosis is supported by the multi-sensory system of the KAMRO system. The system for error diagnosis has the structure of a blackboard system. The task of the sensor system is focused to the monitoring of a product assembly. A very interesting part of the system is an approach for the automatic sensor planning for the acquisition of lacking sensor data. The first prototype of the system is being implemented with the help of the LISP based generic blackboard development shell GBB on a SUN4 computer.