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A new Robotic Assembly Skill (RAS) modeling framework is proposed. An assembly skill is a primitive that encapsulates the capabilities to coordinate, control and supervise an elementary robot task. To gain reusability of a primitive in alike robot tasks, the primitives are represented as generic templates that are parametrized for each situation with data from an assembly specification. A skill is represented in two ways, namely as a trajectory describing compliant motions in pose-wrench spacedoi:10.1109/iros.2015.7353471 dblp:conf/iros/WahrburgZMPD15 fatcat:za4hgrisnraclddwdp6l55ungu