In response to such diverse consume

In response to such diverse consumer needs, factoryproduction systems have changed from the line produc-tion system where many workers assemble a product onthe assembly line, to cell production systems where a single worker assembles a product. As the tasks industrialrobots are required to perform have become more com-plex, they have to be made adaptable to different work-ing processes and to skillfully assemble a variety of prod-ucts according to plans. In the 2000s, RGBD sensors andforce sensors under development at a research level formany years coincidentally reached the stage of practicalapplications. This resulted in sensor systems for indus-trial robots to use in autonomously performing their tasks.This led to practical applications of intelligent industrialrobots to autonomously perform their tasks based on sen-sor data [3–6].