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Automatic generation of robot applications using a knowledge integration framework

: Naumann, Martin; Bengel, Matthias; Verl, Alexander

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
European Commission EC
FP7-ICT; 230902; ROSETTA
Conference Paper
Fraunhofer IPA ()
industrial robot; robot control; Roboteranwendung; Wissensmodellierung; Industrieroboter; Programmieren; Steuerungstechnik

This article describes an integrated approach for the handling and modeling of knowledge for assembly processes in an automated production environment. High-level information on the process provided by the user needs to be transferred into executable code. This is informal information and might be even available in natural language. With the help of several information sources like CAD or sensor data, device and skill descriptions, planning algorithms, process knowledge and finally domain knowledge the Knowledge Integration Framework derives a formal application description. Therefore, the user input is parsed and analyzed with all the relevant knowledge made available in a formal representation beforehand. With the help of computer-based reasoning and inference algorithms the input is evaluated and enhancements for missing information are requested from the user. The core part of the implementation is to capture and to enable access to the available knowledge. Without a proper representation of all process and operation details the Knowledge Integration Framework cannot perform this challenging work. The formal application description is fed into the code generator where device-specific code together with the execution sequence is created. On runtime these executable programs - after deployment to the physical devices - are iteratively readapted taking strategies for safety and error recovery into account.
This work promises a strong potential for realizing future robot installations in a robust and efficient way, taking into account a dynamic environment and human robot cooperation with respect to safe task execution and human injury prevention.