Orders by auction
Kit deliveries, finished engines and empties become orders. Idle AMRs bid with travel time, battery and load — the best-placed robot wins.
Taktsmith · the factory floor
One fleet. Every cell.
One takt.
Plan and simulate a whole robotic factory floor in the browser: an AMR fleet that carries kits from the warehouse to the cells and finished goods to dispatch — every route conflict-free in space and time, around people and forklifts.
Runs in your browserExports IFC4 · ROS 2 · robot codeStatus free preview
What goes in
OrdersKit deliveries, finished engines and empties
The AMR fleetIdle robots bid with travel time, battery and load
People and forkliftsDynamic obstacles inside each safety field
17 robot-cell stationsAssembly, welding, picking, palletizing and more
TAKTSMITHplans the robotic factory floortaktsmith.comOrders by auction · space-time reservations · safety fields
What comes out
IFC4 floor layoutFor Gewerkton Studio and BIM tools
ROS 2 / MoveIt 2 packagesBehaviorTree generated from the task graph
Robot programsKUKA KRL, ABB RAPID or URScript
A digital twinLive robot data vs the plan: OEE and cycle time
294deliveries per hour · 7 AMRs
0 vs 20near-misses with vs without reservations
17robot-cell stations · 6 engineering apps
IFC4floor layout for Gewerkton Studio and BIM
Key facts from a simulated 10-minute night shift.
How the fleet plans
Every robot on the floor reserves its space and its time.
Shortest paths are easy. Seven robots, a forklift and people crossing the aisles at the same time are not. Taktsmith plans the fleet the way the cells plan their arms.
Space-time reservations
Each AMR plans against a shared reservation table: no two robots in the same cell at the same moment, no head-on swaps, waits allowed. Conflicts are prevented, not detected.
People, forklifts, batteries
Humans and forklifts are dynamic obstacles inside each AMR's safety field; low batteries send robots to charge before they strand. Switch reservations off and watch the near-misses appear.
Stations on the floor
Zoom into any cell the fleet serves.
Every station is a working simulation of its own — with the same core: kinematics, time-parameterised motion, task graphs, reservations and safety monitoring.
Warehouse · intralogistics
AS/RS shuttle warehouse
Shuttles and lifts store totes; storage strategy vs the lift bottleneck.
Mobile manipulator
An AMR with an arm picks from shelves — base placement from a reachability map.
Bin picking
Depth camera and learned grasp scoring empty a bin of mixed parts.
Delta picking line
Three delta robots pick parts off a moving conveyor and share the load.
Gantry sorting
Two gantry bridges share one beam to sort parcels into destinations.
Assembly · electronics
Dual-arm engine assembly
Two arms build an inline-4 short block: cooperative carry, handover, spiral torque.
SCARA PCB assembly
SCARA kinematics, vision alignment and placement-sequence optimisation.
Force-controlled insertion
Peg-in-hole with impedance control and spiral search.
Collaborative station
A cobot shares the bench with a person — speed & separation monitoring.
Machining · body · paint
CNC machine tending
One robot serves two machining centres — when does the robot become the bottleneck?
Deburring
Force-controlled edge following: 96 % in tolerance vs 67 % position-only.
Robotic welding cell
Seam finding, multi-pass welding, a handler robot, robot-code export.
Spot-weld line
Body-in-white stations: weld-spot allocation and interference zones set the line takt.
Paint shop
Spray-path planning with a film-thickness model: uniformity vs paint usage.
Quality · dispatch
Vision inspection
Viewpoint planning, measurements and SPC with honest false-reject trade-offs.
Palletizing cell
Interlocked layers and pallet swap without stopping the line.
Beyond the factory · construction site
Engineering apps
Tools for planning the floor.
Lay out the hall, balance the line, size the robot, check the safety distances, make the business case.
App
Floor-layout planner
Drag & drop cells, racks and aisles; checks and IFC export.
AppLine balancer
Tasks, precedence and takt time → stations and efficiency.
AppRobot selector
Payload, reach, precision, budget → ranked robot classes.
AppSafety distances
ISO 13855 / 13857 and ISO/TS 15066, drawn to scale.
AppROI calculator
Payback, NPV, IRR and sensitivity of a robot investment.
AppGripper lab
Six parametric gripper mechanisms → CadQuery, OpenSCAD, FreeCAD, STL.
Hand-off
From simulated floor to real plant.
- The whole floor layout as IFC4 — racks, cells, chargers, lanes, AMRs — for Gewerkton Studio and BIM tools
- ROS 2 / MoveIt 2 packages with a BehaviorTree generated from the task graph
- Robot programs as KUKA KRL, ABB RAPID or URScript
- A digital twin that compares live robot data with the plan — OEE and cycle time
