A concept for an intelligent and fault-tolerant robot system

A concept for the intelligent control of subsystems of a flexible assembly cell is presented. Unknown or uncertain data about the real world may lead towards failure during an assembly task. Therefore, a fault tolerant system must be capable of reacting immediately to error situations. Thus, the major topic of this paper is the dynamic handling of unforeseen situations during realtime activities. This will be achieved by combining sensor guided actions with an advanced autonomous supervision system. Experimental results will be derived from the mobile two-arm robot system KAMRO of the Institute for Real-Time Computer Control Systems and Robotics, University of Karlsruhe, Federal Republic of Germany.