Knowledge for Synchronized Dual-Arm Robot Programming
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| Title: | Knowledge for Synchronized Dual-Arm Robot Programming |
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| Authors: | Stenmark, Maj, Topp, Elin Anna, Haage, Mathias, Malec, Jacek |
| Contributors: | Lund University, Faculty of Engineering, LTH, Departments at LTH, Department of Computer Science, Lunds universitet, Lunds Tekniska Högskola, Institutioner vid LTH, Institutionen för datavetenskap, Originator, Lund University, Profile areas and other strong research environments, Strategic research areas (SRA), ELLIIT: the Linköping-Lund initiative on IT and mobile communication, Lunds universitet, Profilområden och andra starka forskningsmiljöer, Strategiska forskningsområden (SFO), ELLIIT: the Linköping-Lund initiative on IT and mobile communication, Originator, Lund University, Faculty of Engineering, LTH, Departments at LTH, Department of Computer Science, Robotics and Semantic Systems, Lunds universitet, Lunds Tekniska Högskola, Institutioner vid LTH, Institutionen för datavetenskap, Robotik och Semantiska System, Originator |
| Source: | Papers from the 2017 AAAI Fall Symposia AAAI Fall Symposium Series 2017. |
| Subject Terms: | Engineering and Technology, Electrical Engineering, Electronic Engineering, Information Engineering, Robotics and automation, Teknik, Elektroteknik och elektronik, Robotik och automation |
| Description: | We present our successful efforts to improve intuitive programming of synchronized dual-arm operations in industrial robotic assembly tasks. To this end we extend an earlier proposed skill representation (based on our work with ontologies for industrial robots) and our respective programming interface to integrate options for the specification, adaptation and refinement of synchronization points, synchronized motions and master-slave relations during program parts. Our approach supports the user by handling motion constraints and geometrical transformations necessary for refinement and transfer of program sequences between arms implicitly. In turn, the knowledge necessary to describe and represent the respective operations for later re-use and refinement is made explicit and can hence be captured in our skill representation. We report on two experiments confirming the applicability and efficiency of our approach. |
| Access URL: | https://www.aaai.org/ocs/index.php/FSS/FSS17/paper/view/16021 |
| Database: | SwePub |
Nájsť tento článok vo Web of Science | Abstract: | We present our successful efforts to improve intuitive programming of synchronized dual-arm operations in industrial robotic assembly tasks. To this end we extend an earlier proposed skill representation (based on our work with ontologies for industrial robots) and our respective programming interface to integrate options for the specification, adaptation and refinement of synchronization points, synchronized motions and master-slave relations during program parts. Our approach supports the user by handling motion constraints and geometrical transformations necessary for refinement and transfer of program sequences between arms implicitly. In turn, the knowledge necessary to describe and represent the respective operations for later re-use and refinement is made explicit and can hence be captured in our skill representation. We report on two experiments confirming the applicability and efficiency of our approach. |
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