The reasons for integrating collision avoiding path planning into a task-level programmable multi-sensor robot system are put forward. The underlying system architecture and the specific approaches for environment mod...
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The reasons for integrating collision avoiding path planning into a task-level programmable multi-sensor robot system are put forward. The underlying system architecture and the specific approaches for environment modelling, task planning and path planning are discussed. task planning is performed using a rule based expert sytem and a frame representation of relevant environment data. Path planning is based on a configuration-space approach with a fast new algorithm for obstacle transformation. Results gained from experimental laboratory work are presented and show some advantages and problems of the entire system.
The purpose of this paper is to give an overview of past and recent work on planning sensing strategies for vision sensors. To achieve an economic use of robots in manufacturing, their programs must provide a high deg...
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The purpose of this paper is to give an overview of past and recent work on planning sensing strategies for vision sensors. To achieve an economic use of robots in manufacturing, their programs must provide a high degree of fault-tolerance, security, and robustness to prevent unforeseen errors. Model errors (also termed uncertainties) are one of the most frequent reasons for such undesirable events. Robot systems can be made more reliable and fault-tolerant by providing them with capabilities of error detection and recovery, or error prevention. The latter may be achieved by reducing model errors using tactile and non-tactile sensors. The quality of a robot program synthesized by a task-level programming system depends on the accuracy of the model, since all information that is not explicitly given by the programmer must be derived from it. This means that the following questions have to be answered by the automatic task planner in order to plan non-tactile sensing strategies: (1) When do I have to use sensors to reduce uncertainty about the real world? (2) What do I have to use them for? (3) How do I have to use them to achieve the necessary information within an acceptable period of time? There are very few systems which deal broadly with the problem of robust robot programs, whereas there are numerous works on detail aspects of the field. The main approaches will be introduced and discussed in more detail. Finally, a new concept for generating sensor-integrated robust robot programs will be proposed.
The features of modem collaborative robots, mainly their kinematic redundancy combined with the light-weight structure, can be fully exploited in parts assembly. Traditional robot-level paradigm to robot programming, ...
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The features of modem collaborative robots, mainly their kinematic redundancy combined with the light-weight structure, can be fully exploited in parts assembly. Traditional robot-level paradigm to robot programming, that requires to explicitly specify the motion of the robot and allows to use contact forces for motion supervision only, cannot be easily applied to complex interaction tasks, such as robotic assembly. Instead, by shifting paradigm to skill-based programming, it is possible to specify force control actions at tasklevel and inherently provide compliant capabilities, without the need to specify the motions of the robot. To this end, this paper presents a constraint-based programming framework for the implementation of assembly skills for light-weight redundant robots, enabling a reactive generation of motion trajectories based on force control requirements. The effectiveness of the proposed approach is experimentally validated on a bimanual assembly use case performed with the ABB YuMi dual-arm robot, requiring a peg-in-hole insertion and a cap-rotation task. Estimation of the interaction force/torque additionally enables the execution of the assembly operation without the need for exteroceptive sensors.
During the past decades, the increasing need for more flexible and agile manufacturing equipment has spawned a growing interest in collaborative robots. Contrary to traditional industrial robots, collaborative robots ...
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During the past decades, the increasing need for more flexible and agile manufacturing equipment has spawned a growing interest in collaborative robots. Contrary to traditional industrial robots, collaborative robots are intended for operating alongside the production personnel in dynamic or semi-structured human environments. To cope with the environment and workflow of humans, new programming and control methods are needed compared to those of traditional industrial robots. This paper presents a task-level programming software tool allowing robotic novices to program industrial tasks on a collaborative robot. The tool called Skill Based System (SBS) is founded on the concept of robot skills, which are parameterizable and task-related actions of the robot. taskprogramming is conducted by first sequencing skills followed by an online parameterization performed using kinesthetic teaching. Through several user studies, SBS is found to enable robotic novices to program industrial tasks. SBS has further been deployed and tested in two manufacturing settings demonstrating its applicability in real industrial scenarios.
Traditionally, most industrial robots are programmed by teaching. Automatic planning of robotic tasks has many potential benefits for flexible automation. It allows the user to describe a task to the robot programming...
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Traditionally, most industrial robots are programmed by teaching. Automatic planning of robotic tasks has many potential benefits for flexible automation. It allows the user to describe a task to the robot programming system in a formal and natural manner, and reduces the time required to generate and update robot programs. Two main levels of abstraction in describing robot tasks can be identified. Robot-levelprogramming is based on robot movements and actions, as detailed by the programmer. Object-level or task-level programming allows the user to describe assembly tasks in terms of operations performed on objects being manipulated instead of specifying the individual motions of the robot end-effector. However, commercially available robot-levelprogramming languages still fall short of the robot user's need to programme complex tasks and consequently are not widely used in industry. There is an increasing need for integrating sensors feedback into the robot system to provide better perception and for improving the capacity of the robot to reason and make decisions intelligently in real-time. task-level programming represents the highest level of abstraction and is the most attractive, as it uses reasoning capabilities provided by Artificial Intelligence. To date, no system of this class has been completely implemented in industry. This paper reviews the progress made in robot programming and task planning systems in the last twenty years, and discusses the current research trends.
作者：
Samaka, MUAE Univ
Coll Sci Dept Math & Comp Sci Al Ain U Arab Emirates
This paper presents the implementation of AI concepts in the development of a software application for Off-line robot taskprogramming. Such application is designed to assist in robot task planning and to direct manip...
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ISBN:
(纸本)0780376579
This paper presents the implementation of AI concepts in the development of a software application for Off-line robot taskprogramming. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support to the programming means, an interactive graphical simulation for manipulator kinematics was also developed and integrated into the application as the complimentary factor to the robot programming media. The simulation provides the designer with useful, inexpensive, off-line tools for retain and testing robotics work cells and-automated assembly lines for various industrial applications.
A fast algorithm for automatic planning of collision-free robot motion is presented. It enables on-line updating of actual planning data for robot manipulators provided with up to three degrees of freedom for gross-mo...
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A fast algorithm for automatic planning of collision-free robot motion is presented. It enables on-line updating of actual planning data for robot manipulators provided with up to three degrees of freedom for gross-motion, which are working in an unforeseenly changing environment. Motion-planning is performed in a hierarchically organized model containing graphs with regular grid-structure, which describes the quantized configuration-space of the robot. For path-searching in those graphs an especially adapted algorithm is used. Based on this model a parallelization of path-searching is possible to save a significant amount of processing time. The efficiency of the proposed method will be demonstrated by practical results of gross-motion planning for a SCARA assembly robot.
One of the main challenges in verifying robotic systems is its asynchronous interaction with an unstructured environment, observed by imperfect sensors. Autonomous robot systems usually require some language to suppor...
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One of the main challenges in verifying robotic systems is its asynchronous interaction with an unstructured environment, observed by imperfect sensors. Autonomous robot systems usually require some language to support task-level control. This paper presents an effective approach to apply formal verification methods for that kind of language. A main contribution of this method is to avoid modeling the robotic system with a specific formalism. The approach translates the task-level control models into a Petri net (PN) based representation. This is used to define new methods to analyze some task properties such as liveness, deadlock-freeness and terminability. The approach has been applied to the task Description Language (TDL) and it is illustrated by experiments. The final goal is to create new tools within the application development environment to include formal verification as part of the normal software development cycle. The TDL to PN translator uses the Petri Net Markup Language (PNML) as its file format. This format permits interoperability with other Petri net tools that can also be used to analyze the PNs.
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