This paper describes a general concept for a computer integrated manufacturing (CIM) environment intended for the design and assembly of "products" built out of Lego blocks. These "products" are conceptualized and designed within a Lego CAD System from a small set of the most commonly used Lego building blocks. Process planning and trajectory planning software is used to determine the build sequence and robot program for assembling the model directly from the 3D CAD model. The robot program is f
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