Advanced

Knowledge for Synchronized Dual-Arm Robot Programming

Stenmark, Maj LU ; Topp, Elin Anna LU ; Haage, Mathias LU and Malec, Jacek LU (2017) AAAI Fall Symposium Series 2017
Abstract
We present our successful efforts to improve intuitive programming of synchronized dual-arm operations in industrial
robotic assembly tasks. To this end we extend an earlier proposed skill representation (based on our work with ontologies for industrial robots) and our respective programming
interface to integrate options for the specification, adaptation
and refinement of synchronization points, synchronized motions and master-slave relations during program parts. Our
approach supports the user by handling motion constraints
and geometrical transformations necessary for refinement and
transfer of program sequences between arms implicitly. In
turn, the knowledge necessary to describe and represent... (More)
We present our successful efforts to improve intuitive programming of synchronized dual-arm operations in industrial
robotic assembly tasks. To this end we extend an earlier proposed skill representation (based on our work with ontologies for industrial robots) and our respective programming
interface to integrate options for the specification, adaptation
and refinement of synchronization points, synchronized motions and master-slave relations during program parts. Our
approach supports the user by handling motion constraints
and geometrical transformations necessary for refinement and
transfer of program sequences between arms implicitly. In
turn, the knowledge necessary to describe and represent the
respective operations for later re-use and refinement is made
explicit and can hence be captured in our skill representation.
We report on two experiments confirming the applicability
and efficiency of our approach. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Papers from the 2017 AAAI Fall Symposia
publisher
AAAI Press
conference name
AAAI Fall Symposium Series 2017
conference location
Arlington, United States
conference dates
2017-11-09 - 2017-11-11
ISBN
978-1-57735-794-0
language
English
LU publication?
yes
id
1b2fbb7c-ea6d-4db2-8a6f-ee7ae82bb1fa
alternative location
https://www.aaai.org/ocs/index.php/FSS/FSS17/paper/view/16021
date added to LUP
2017-09-18 11:22:44
date last changed
2019-01-18 14:43:45
@inproceedings{1b2fbb7c-ea6d-4db2-8a6f-ee7ae82bb1fa,
  abstract     = {We present our successful efforts to improve intuitive programming of synchronized dual-arm operations in industrial<br/>robotic assembly tasks. To this end we extend an earlier proposed skill representation (based on our work with ontologies for industrial robots) and our respective programming<br/>interface to integrate options for the specification, adaptation<br/>and refinement of synchronization points, synchronized motions and master-slave relations during program parts. Our<br/>approach supports the user by handling motion constraints<br/>and geometrical transformations necessary for refinement and<br/>transfer of program sequences between arms implicitly. In<br/>turn, the knowledge necessary to describe and represent the<br/>respective operations for later re-use and refinement is made<br/>explicit and can hence be captured in our skill representation.<br/>We report on two experiments confirming the applicability<br/>and efficiency of our approach.},
  author       = {Stenmark, Maj and Topp, Elin Anna and Haage, Mathias and Malec, Jacek},
  isbn         = {978-1-57735-794-0},
  language     = {eng},
  location     = {Arlington, United States},
  publisher    = {AAAI Press},
  title        = {Knowledge for Synchronized Dual-Arm Robot Programming},
  year         = {2017},
}