Autonomous assembly robots

An assembly robotic system, comprising:

• a first robot device positioned in a workspace;
• a first tool coupled to the first robot device, the first tool configured to be selectively coupled to a first object;
• a second robot device positioned in the workspace;
• a second tool coupled to the second robot device, the second tool configured to be selectively coupled to a second object, wherein the first object and the second object configured to form a first seam between the first object and the second object;
• a third robot device positioned in the workspace;
• one or more sensors configured to generate sensor data associated with the workspace, at least a first sensor of the one or more sensors coupled to the third robot device;
• a fourth robot device positioned in the workspace;
• a welding tool coupled to the fourth robot device, the welding tool configured to weld the first seam formed between the first object and the second object;
• and
• a controller configured to:
• control, based on the sensor data, the first tool to be coupled to the first object at a first grasp location on the first object, wherein the first grasp location is identified by the controller from multiple possible grasp locations on the first object identified by the controller based upon collision logic of the controller, wherein the collision logic determines if the first robot device would encounter a collision in the workspace when accessing the multiple possible grasp locations on the first object and if a weld tool would encounter a collision in the workspace when welding the first seam while the first tool is coupled to the first object at the multiple possible grasp locations on the first object;
• control, based on the sensor data, the second tool to be coupled to the second object at a second grasp location on the second object;
• control the first robot device, the second robot device, or both, to bring the first object and the second object into a first spatial relationship such that the first seam is formed between the first object and the second object;
• and
• generate a weld instruction to cause the weld tool to weld the first seam to couple the first object and the second object together while the first tool is coupled to the first object at the first grasp location.

A method of operating an assembly robotic system including a first tool coupled to a first robot device, a second tool coupled to a second robot device, one or more sensors, a weld tool, and a controller, the method comprising:

• receiving, by a controller of an assembly robotic system, first sensor data from the one or more sensors;
• identifying, with the controller and based on the first sensor data, a grasp location on the first object for the first object to be coupled with the first tool, wherein the grasp location is identified from multiple possible grasp locations on the first object identified by the controller based upon performing collision analyses with the controller on the multiple possible grasp locations on the first object, wherein the collision analyses comprises determining if the first robot device would encounter a collision when accessing the multiple possible grasp locations on the first object and determining if the weld tool would encounter a collision when welding a seam between the first object and a second object while the first tool is coupled to the first object at the multiple possible grasp locations on the first object;
• controlling, by the controller and based on the first sensor data, the first tool to be coupled to the first object at the first grasp location;
• controlling, by the controller and based on the first sensor data, the second tool to be coupled to the second object at a second grasp location on the second object;
• controlling, by the controller, the first robot device, the second robot device, or both, to bring the first object and the second object into a spatial relationship such that the seam is formed between the first object and the second object;
• generating, by the controller, a weld instruction;
• and
• welding, by the weld tool responsive to the weld instruction, the seam to couple the first object and the second object together while the first tool is coupled to the first object at the grasp location.