Simon, Wolfgang ; Ersü, Enis ; Gose, H. ; Zoll, M. (2023)
A Real-Time Knowledge Scheme for Sensory-Controlled Robot Assembly Tasks.
In: IFAC Proceedings Volumes, 1988, 21 (16)
doi: 10.26083/tuprints-00023390
Artikel, Zweitveröffentlichung, Verlagsversion
Kurzbeschreibung (Abstract)
In the field of assembly automation with industrial robots the research on the application of artificial intelligence techniques is getting increasing importance. This paper describes the hierarchical structure of a knowledge—based sensory-controlled robot assembly system under development which is capable to plan and execute assembly tasks under real—time requirements. The hybrid knowledge representation scheme combining the rule—based and object—oriented approach to represent the assembly domain—specific knowledge is discussed. Furtheron, the knowledge processing concept based upon the representation scheme is explained. A first prototype of the system has been implemented in a real robotic test—bed. Several peg/hole part mating sequences validated the capability of the system to execute assembly tasks in an uncertain environment using sensory information.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Simon, Wolfgang ; Ersü, Enis ; Gose, H. ; Zoll, M. |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | A Real-Time Knowledge Scheme for Sensory-Controlled Robot Assembly Tasks |
| Sprache: | Englisch |
| Publikationsjahr: | 2023 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 1988 |
| Verlag: | IFAC - International Federation of Automatic Control |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC Proceedings Volumes |
| Jahrgang/Volume einer Zeitschrift: | 21 |
| (Heft-)Nummer: | 16 |
| DOI: | 10.26083/tuprints-00023390 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/23390 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (Abstract): | In the field of assembly automation with industrial robots the research on the application of artificial intelligence techniques is getting increasing importance. This paper describes the hierarchical structure of a knowledge—based sensory-controlled robot assembly system under development which is capable to plan and execute assembly tasks under real—time requirements. The hybrid knowledge representation scheme combining the rule—based and object—oriented approach to represent the assembly domain—specific knowledge is discussed. Furtheron, the knowledge processing concept based upon the representation scheme is explained. A first prototype of the system has been implemented in a real robotic test—bed. Several peg/hole part mating sequences validated the capability of the system to execute assembly tasks in an uncertain environment using sensory information. |
| Freie Schlagworte: | Artificial intelligence, assembling, knowledge base, knowledge representation, knowledge processing, robots |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-233909 |
| Zusätzliche Informationen: | Zugl. Konferenzveröffentlichung: 2nd IFAC Symposium on Robot Control (SYROCO '88), 05.-07.10.1988, Karlsruhe, Federal Republic of Germany |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Intelligente Systeme |
| Hinterlegungsdatum: | 28 Apr 2023 08:05 |
| Letzte Änderung: | 03 Mai 2023 09:57 |
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