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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

Samenvatting

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.

Originele taal-2	Engels
Titel	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitel	Sensor-Based Robotics and Opportunties for its Industrial Applications
Uitgeverij	Institute of Electrical and Electronics Engineers Inc.
Pagina's	1270-1279
Aantal pagina's	10
ISBN van elektronische versie	0780307372
DOI's	https://doi.org/10.1109/IROS.1992.594549
Status	Gepubliceerd - 1992
Evenement	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, Verenigde Staten van Amerika Duur: 7 jul. 1992 → 10 jul. 1992

Publicatie series

Naam	IEEE International Conference on Intelligent Robots and Systems
Volume	2
ISSN van geprinte versie	2153-0858
ISSN van elektronische versie	2153-0866

Congres

Congres	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Land/Regio	Verenigde Staten van Amerika
Stad	Raleigh
Periode	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 (blz. 1270-1279). Artikel 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. blz. 1270-1279 (IEEE International Conference on Intelligent Robots and Systems).

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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. 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., blz. 1270-1279, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, Verenigde Staten van Amerika, 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. blz. 1270-1279 594549 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2).

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › 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. blz. 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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