Fixtureless robotic assembly

An apparatus comprising:

• a first robotic arm;
• and
• a processor communicatively connected with a memory and configured to:
• cause the first robotic arm to engage a first part,
• cause the first robotic arm to move the first part to a position that the first part can be joined with a second part,
• cause the first robotic arm to disengage the first part,
• cause the first robotic arm to engage a third part, the third part being a different part than the first part, and
• cause the first robotic arm to move the third part to a position that the third part can be joined with a subassembly including the first and second parts.

A computer-readable medium storing computer-executable code for controlling one or more robotic arms in a fixtureless assembly system, the code when executed by at least one processor causes the at least one processor to:

• direct a first robotic arm to a first position based on a first set of coordinates;
• cause the first robotic arm to engage with a first structure based on the first position of the first robotic arm;
• and
• direct the first robotic arm to a second position based on a second set of coordinates such that the first structure is brought within a joining proximity of a second structure without a fixture retaining the first structure and without a fixture retaining the second structure, wherein the first structure is configured to be joined with the second structure when the first and second structures are within the joining proximity, the joining proximity being a proximity at which the first and second structures can be joined together.