Automated sequencing and composition of assembly primitives under constraints

Develop a method to automatically sequence and combine parametric robotic assembly primitives—each characterized by feature-coordinate mappings to task-space, motion constraints, and transition conditions—so that complex industrial assemblies can be executed without manual specification of the action order or transitions between primitives.

Background

The paper reviews prior work on modular assembly frameworks in which tasks are decomposed into reusable primitives with defined feature-coordinate mappings and constraints. While such primitives enable flexibility, automatically determining how to order and connect them based on constraints and transition conditions remains unresolved.

The authors note, citing related work, that despite frameworks such as iTASC and identified primitive sets, an automated approach to sequence and compose these primitives is still lacking, highlighting a gap between primitive definition and full task-level autonomy.

References

However, as the authors state, the automated sequencing and combination of primitive actions based on their constraints and transition conditions remains an open area of research.

— Autonomous Industrial Assembly using Force, Torque, and RGB-D sensing  (2002.02580 - Watson et al., 2020) in Section 2 (Previous Work)