A Module-Based Skill Ontology for Industrial Robots
(2015) In 1650-2884 EDA920 20151Department of Computer Science
- Abstract
- With industrial robots ready to take the next step in mastering manufacturing
tasks new approaches to reduce the programing effort are needed. This
is achieved by introducing skills as robot "know-how" and using them as a
higher abstraction level of robot instructions during programming. The skills
are reusable items providing motion control and rich declarative descriptions
of complex robot capabilities. Storing the skills requires an adequate knowledge
representation model that enables reuse and reasoning on skills and simplifies
knowledge management. In this thesis we develop a skill representation
model and implement it in the LTH knowledge base. It was developed by
studying, normalizing, extending and modularizing the current... (More) - With industrial robots ready to take the next step in mastering manufacturing
tasks new approaches to reduce the programing effort are needed. This
is achieved by introducing skills as robot "know-how" and using them as a
higher abstraction level of robot instructions during programming. The skills
are reusable items providing motion control and rich declarative descriptions
of complex robot capabilities. Storing the skills requires an adequate knowledge
representation model that enables reuse and reasoning on skills and simplifies
knowledge management. In this thesis we develop a skill representation
model and implement it in the LTH knowledge base. It was developed by
studying, normalizing, extending and modularizing the current skill concepts
in the LTH knowledge base. The developed model is effectively a class hierarchy
of the skill concepts implemented in a modularized ontology structure.
The resulting model clarifies the intrinsic concepts of a skill and presents a
module structure that enables the future development and reuse of skills in
general. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8245197
- author
- Jacobsson, Ludwig LU
- supervisor
-
- Jacek Malec LU
- organization
- course
- EDA920 20151
- year
- 2015
- type
- H3 - Professional qualifications (4 Years - )
- subject
- keywords
- robot skill, ontology, modularization, industrial robots
- publication/series
- 1650-2884
- report number
- LU-CS-EX 2015-48
- ISSN
- 1650-2884
- language
- English
- id
- 8245197
- date added to LUP
- 2015-12-02 09:50:22
- date last changed
- 2015-12-02 09:50:22
@misc{8245197, abstract = {{With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programing effort are needed. This is achieved by introducing skills as robot "know-how" and using them as a higher abstraction level of robot instructions during programming. The skills are reusable items providing motion control and rich declarative descriptions of complex robot capabilities. Storing the skills requires an adequate knowledge representation model that enables reuse and reasoning on skills and simplifies knowledge management. In this thesis we develop a skill representation model and implement it in the LTH knowledge base. It was developed by studying, normalizing, extending and modularizing the current skill concepts in the LTH knowledge base. The developed model is effectively a class hierarchy of the skill concepts implemented in a modularized ontology structure. The resulting model clarifies the intrinsic concepts of a skill and presents a module structure that enables the future development and reuse of skills in general.}}, author = {{Jacobsson, Ludwig}}, issn = {{1650-2884}}, language = {{eng}}, note = {{Student Paper}}, series = {{1650-2884}}, title = {{A Module-Based Skill Ontology for Industrial Robots}}, year = {{2015}}, }