Developing automated assembly systems normally happens in two distinct stages: first an "off-line" stage in which the system is designed and programmed in simulated and then an "online" stage in which the simulation results are used to minimize the deployment and integration time of the physical machines. The distinction is so great that usually completely different software environments are used in the design phase than are used in the deployment and operation phase. We present the architecture for agile assembly (AAA), a comprehensive integrated framework that is designed to blur these stages together and ease the transitions between them. We have used the protocols of AAA to create an integrated interface tool which can be used throughout the life-cycle of a developing AAA factory, from its design to its operation. We have tested the integrated interface tool both in simulation and with our prototype hardware, which is designed for high precision four-degree-of-freedom assembly.

The goal of the architecture for agile assembly (AAA) is to enable rapid deployment and reconfiguration of automated assembly systems through the use of cooperating, modular, robust, robotic agents. AAA agent programs must be completely distributed and specify cooperative precision behavior in a structured, well known environment. Thus, the structure of agent programs is carefully designed to allow packaging of all the information necessary for coordinated execution when downloaded to a physical agent. To make the specification and execution of the potentially complex and fragile cooperative behaviors robust, our programs define ordered sets of control strategies and allow a low level real-time hybrid control system to sequence the strategies rather than burdening the agent program with the management of this critical detail. This novel approach to programming automation systems has been tested both in simulation and on prototype hardware.

Abstract: "This paper serves to present our initial thoughts on the design of an architecture for highly flexible, modular, and distributed precision assembly systems. Through the use of a unified design, simulation, programming, and monitoring environment coupled with self- representing cooperative agents this architecture will significantly simplify the process of factory design and deployment. Our demonstration of this architecture takes the form of a 'table top' sized miniature assembly system targeted at the partial assembly of high-density magnetic storage devices."