This paper presents work in progress towards a tool to assist system builders in the formal specification of lightweight, discrete component assembly tasks. Assembly system design and, in particular, manipulator design currently involves much trial-and-error testing and tends to be highly subjective. A key factor preventing the adoption of formal design methods is the lack of specification techniques for establishing and representing task requirements, such as desired pose transformation, fine motions, accuracy and compliance of the assembly manipulators. A top-down modelling framework for decomposing complex assembly manipulation tasks into elementary manipulation tasks (EMTs) is proposed. The EMT modelling approach provides the foundation for a formal CAD-based tool to represent assembly task requirements.
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