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
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | A Real-Time Knowledge Scheme for Sensory-Controlled Robot Assembly Tasks |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1988 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 21 |
| Issue Number: | 16 |
| DOI: | 10.26083/tuprints-00023390 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| 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. |
| Uncontrolled Keywords: | Artificial intelligence, assembling, knowledge base, knowledge representation, knowledge processing, robots |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-233909 |
| Additional Information: | Zugl. Konferenzveröffentlichung: 2nd IFAC Symposium on Robot Control (SYROCO '88), 05.-07.10.1988, Karlsruhe, Federal Republic of Germany |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 28 Apr 2023 08:05 |
| Last Modified: | 10 Jul 2023 12:33 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23390 |
| PPN: | 509466575 |
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