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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Sensor-Based Robotics and Opportunties for its Industrial Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1270-1279
Number of pages	10
ISBN (Electronic)	0780307372
DOIs	https://doi.org/10.1109/IROS.1992.594549
Publication status	Published - 1992
Event	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States Duration: 7 Jul 1992 → 10 Jul 1992

Publication series

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

Conference

Conference	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country/Territory	United States
City	Raleigh
Period	7/07/92 → 10/07/92

Access to Document

10.1109/IROS.1992.594549

Cite this

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 (pp. 1270-1279). Article 594549 (IEEE International Conference on Intelligent Robots and Systems; Vol. 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. pp. 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, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 1270-1279, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, United States, 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. p. 1270-1279 594549 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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. p. 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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