A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs

J. Leysen; H. Van Brussel; J. De Schutter

doi:10.1109/IROS.1992.594549

A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs

J. Leysen, H. Van Brussel, J. De Schutter

Economy, Management and Leadership

KU Leuven

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

Abstract

We describe a robot programming system that generates programs for two dimensional assembly operations. A program is actually a network of "augmented compliant motion specifications" that describe how the robot must comply to the physical constraints imposed by the environment. The various representations, as well as the problem solving mechanisms used during the programming process have been inspired by the human way of dealing with assembly problems. The programming process results from the collaboration between several algorithmic modules and a reasoning mechanism that exploits rule bases of heuristics concerning different aspects of assembly problems. The system has been implemented completely on a personal workstation yielding very satisfactory performance.

Originalsprache	Englisch
Titel	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Untertitel	Sensor-Based Robotics and Opportunties for its Industrial Applications
Herausgeber (Verlag)	Institute of Electrical and Electronics Engineers Inc.
Seiten	1270-1279
Seitenumfang	10
ISBN (elektronisch)	0780307372
DOIs	https://doi.org/10.1109/IROS.1992.594549
Publikationsstatus	Veröffentlicht - 1992
Veranstaltung	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, USA/Vereinigte Staaten Dauer: 7 Juli 1992 → 10 Juli 1992

Publikationsreihe

Name	IEEE International Conference on Intelligent Robots and Systems
Band	2
ISSN (Print)	2153-0858
ISSN (elektronisch)	2153-0866

Konferenz

Konferenz	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Land/Gebiet	USA/Vereinigte Staaten
Ort	Raleigh
Zeitraum	7/07/92 → 10/07/92

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10.1109/IROS.1992.594549

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Leysen, J., Van Brussel, H., & De Schutter, J. (1992). A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (S. 1270-1279). Artikel 594549 (IEEE International Conference on Intelligent Robots and Systems; Band 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.594549

Leysen, J. ; Van Brussel, H. ; De Schutter, J. / A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs. IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. S. 1270-1279 (IEEE International Conference on Intelligent Robots and Systems).

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title = "A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs",

abstract = "We describe a robot programming system that generates programs for two dimensional assembly operations. A program is actually a network of {"}augmented compliant motion specifications{"} that describe how the robot must comply to the physical constraints imposed by the environment. The various representations, as well as the problem solving mechanisms used during the programming process have been inspired by the human way of dealing with assembly problems. The programming process results from the collaboration between several algorithmic modules and a reasoning mechanism that exploits rule bases of heuristics concerning different aspects of assembly problems. The system has been implemented completely on a personal workstation yielding very satisfactory performance.",

author = "J. Leysen and \{Van Brussel\}, H. and \{De Schutter\}, J.",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 ; Conference date: 07-07-1992 Through 10-07-1992",

year = "1992",

doi = "10.1109/IROS.1992.594549",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1270--1279",

booktitle = "IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems",

}

Leysen, J, Van Brussel, H & De Schutter, J 1992, A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications., 594549, IEEE International Conference on Intelligent Robots and Systems, Bd. 2, Institute of Electrical and Electronics Engineers Inc., S. 1270-1279, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, USA/Vereinigte Staaten, 7/07/92. https://doi.org/10.1109/IROS.1992.594549

A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs. / Leysen, J.; Van Brussel, H.; De Schutter, J.
IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. S. 1270-1279 594549 (IEEE International Conference on Intelligent Robots and Systems; Band 2).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

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AB - We describe a robot programming system that generates programs for two dimensional assembly operations. A program is actually a network of "augmented compliant motion specifications" that describe how the robot must comply to the physical constraints imposed by the environment. The various representations, as well as the problem solving mechanisms used during the programming process have been inspired by the human way of dealing with assembly problems. The programming process results from the collaboration between several algorithmic modules and a reasoning mechanism that exploits rule bases of heuristics concerning different aspects of assembly problems. The system has been implemented completely on a personal workstation yielding very satisfactory performance.

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Leysen J, Van Brussel H, De Schutter J. A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc. 1992. S. 1270-1279. 594549. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.1992.594549

A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs

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