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Design and analysis of a dynamic scheduler for a flexible assembly system

This paper proposes a rule-based dynamic scheduler for a flexible assembly system. We first introduce a flexible control system developed by the Intelligent Robot and Automation Laboratory in National Taiwan University. Based on that control system, the relationship between the control system and the scheduler is characterized. With focus on realization, hardware limitations such as long computation time and excessive memory-space usage are relaxed by incorporating several heuristic measures. The present work is applied to the simulated robotized flexible assembly system in our laboratory.