The assembly is often a weak link in the production process. It is an enterprise activity which is responsible for a substantial part of the production costs and the throughput time. Robot assembly systems in addition offer legitimate possibilities to rationalize the assembly activities, because of the increasing product diversity, and the more severe demands concerning the reliability of delivery. Unfortunately several bottlenecks hinder the widespread application of robot assembly systems. Figure 1 gives an overview of the bottlenecks and the development tendencies in robotic assembly.