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

Résultats de recherche: Chapitre dans un livre, un rapport, des actes de conférences › Contribution à une conférence › Revue par des pairs

Résumé

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.

langue originale	Anglais
titre	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Sous-titre	Sensor-Based Robotics and Opportunties for its Industrial Applications
Editeur	Institute of Electrical and Electronics Engineers Inc.
Pages	1270-1279
Nombre de pages	10
ISBN (Electronique)	0780307372
Les DOIs	https://doi.org/10.1109/IROS.1992.594549
état	Publié - 1992
Evénement	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, États-Unis Durée: 7 juil. 1992 → 10 juil. 1992

Série de publications

Nom	IEEE International Conference on Intelligent Robots and Systems
Volume	2
ISSN (imprimé)	2153-0858
ISSN (Electronique)	2153-0866

Une conférence

Une conférence	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Pays/Territoire	États-Unis
La ville	Raleigh
période	7/07/92 → 10/07/92

Accès au document

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. Dans IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (p. 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. p. 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",

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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. Dans 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., p. 1270-1279, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, États-Unis, 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).

Résultats de recherche: Chapitre dans un livre, un rapport, des actes de conférences › Contribution à une conférence › Revue par des pairs

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Leysen J, Van Brussel H, De Schutter J. A Knowledge Oriented Approach to the Synthesis of Force Controlled Robot Programs. Dans 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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