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Purpose This paper aims to propose the method of automatic robotic assembly of two or more parts placed without fixing instrumentation and positioning on the pallet. Design/methodology/approach Assembly tasks performed by industrial robots are usually based on a constant program, extensive tooling, fixing objects in a given place and a relatively limited sensory system. In this study, a different approach is presented. The industrial robot program is adjusted to the location of parts for assembly in the work space. This leads to a transition from a clearly defined assembly sequence realized by the industrial robot to the one in which the order of execution of the assembly operations can be determined by the mutual position of parts to be assembled. Findings The method presented in this study combines many already known algorithms. The contribution of the authors is to test and select the appropriate combination of methods capable of supporting robotic assembly process based on data from optical 3D scanners. The sequence of operations from scanning to place the parts in the installation position by an industrial robot is developed. A set of parameters for selected methods is presented. The result is a universal procedure that determines the position of the preset models in partial measurements performed at a fixed relative position of the sensor, the measurement object. Originality/value The developed procedure for determining the position of the parts is essential to develop a flexible robotic assembly system. It will be able to perform the task of assembly on the basis of appropriate search algorithms taking into account the selected and implemented sequence of assembly position and orientation of parts, particularly the base unit freely placed on an assembly pallete. It is also the basis of a system for testing different algorithms to optimize the flexible robotic assembly.

There is reduction in implementation costs of systems considered too complicated and expensive caused by increasing efficiency and availability of hardware and software. The paper contains a proposal to extend features of standard vision system by 3D scanning capability. System is expected to be implemented in new and existing robotic stations. Basic mathematical equations and hints for the selection of system components are provided.

This paper deals with the application of the flexible production system in the education of students of different specialties. System allows for the provision of teaching in the same facilities, both for the students of specialized field of study like Mechatronics and such as introductory courses in production management methods for students of Management. The biggest advantage of this system is its modularity allows for any change in the system without having to redesign actuators. These advantages are result of use a lot of flexible solutions, what was precisely described. Line construction involves the cooperation of all the elements, with particular emphasis on robots cooperate with vision system. This will be discussed on the example of the tasks of varying difficulty and educational purpose, implemented using a modular flexible production system.

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