Robotic assembly tasks are typically implemented in static settings in which parts are kept at
fixed locations by making use of part holders. Very few works deal with the problem of …

High-mix, low-volume assembly has been a long-standing challenge for robot systems. We
present a complete 2-armed robot system with general-purpose grippers and hand-held …

The initial design of a robotic workcell layout has a large impact on the feasibility and
performance of the intended robotic tasks. We define this layout design as a constrained …

This paper presents an automated framework for designing and reconfiguring robotic
workcells in high-mix, lowvolume manufacturing scenarios. The framework utilizes a …

Preoperative planning and intra-operative system setup are crucial steps to successfully
integrate robotically assisted surgical systems (RASS) into the operating room. Efficiency in …

Today's production requires flexible assembly systems that are able to manufacture
individual products with little effort and can deal with uncertainties. In this thesis, a …

In the scenario of dual-arm robot collaborative manipulation, selecting the appropriate
operation point can significantly influence the success rate and efficiency of the subsequent …