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This paper aims to propose the method of automatic robotic assembly of two or more parts placed without fixing instrumentation and positioning on the pallet.

Assembly tasks performed by industrial robots are usually based on a constant program, extensive tooling, fixing objects in a given place and a relatively limited sensory system. In this study, a different approach is presented. The industrial robot program is adjusted to the location of parts for assembly in the work space. This leads to a transition from a clearly defined assembly sequence realized by the industrial robot to the one in which the order of execution of the assembly operations can be determined by the mutual position of parts to be assembled.

The method presented in this study combines many already known algorithms. The contribution of the authors is to test and select the appropriate combination of methods capable of supporting robotic assembly process based on data from optical 3D scanners. The sequence of operations from scanning to place the parts in the installation position by an industrial robot is developed. A set of parameters for selected methods is presented. The result is a universal procedure that determines the position of the preset models in partial measurements performed at a fixed relative position of the sensor, the measurement object.

The developed procedure for determining the position of the parts is essential to develop a flexible robotic assembly system. It will be able to perform the task of assembly on the basis of appropriate search algorithms taking into account the selected and implemented sequence of assembly position and orientation of parts, particularly the base unit freely placed on an assembly pallete. It is also the basis of a system for testing different algorithms to optimize the flexible robotic assembly.

The paper will concentrate on the Grounded Theory Methodology (GTM) from the point of view of the contemplative social sciences (CSS). It will analyze how the mind is engaged in the construction of concept and what the role is of the consciousness of the mind's work in creating a theory that is based on the analysis of empirical data. We will review the research and analytical methods that could be inspirations for Contemplative Grounded Theory (CGT): constructivist grounded theory, classic grounded theory, transformational grounded theory, sociological introspection, holistic ethnography, mindful inquiry and transformational phenomenology, and contemplative qualitative inquiry.

We can find in many classical books from grounded theory (GT) some seeds of contemplative thinking, and we can reconstruct them (Glaser and Strauss, 1967; Glaser, 1978; Strauss, 1987). We would like to develop the inspirations more and perhaps change the sense of GT after the contemplative turn. We would like to show the possibilities of using CGT in research and also its limitations. Some empirical examples from research and analysis will be given to show how contemplation could be used in GT.