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Semantic modelling of hybrid controllers for robotic cells

Malec, Jacek LU ; Haage, Mathias LU ; Nilsson, Anders LU ; Stenmark, Maj LU and Topp, Elin Anna LU (2017) International Conference on Flexible Automation and Intelligent Manufacturing In Proceedings of the Intl Conference on Flexible Automation and Intelligent Manufacturing 11. p.292-299
Abstract
Programmable Logic Controllers (PLCs) play an important role for integration of hardware and software in industrial robot cells. In this paper we propose a semantic grounding of the Sequential Function Charts (SFC) notation for specification of PLC programs. Our semantic grounding is expressed in the OWL semantic language and forms part of our semantic robot framework, called KIF (Knowledge Integration Framework). KIF is a set of ontologies and associated tools to ensure interoperability between heterogeneous equipment making up a robot cell. We also present a tool set for manipulating SFC instances stored in RDF triple stores reachable through the RDF4J framework. The semantic grounding and tool set are evaluated in a... (More)
Programmable Logic Controllers (PLCs) play an important role for integration of hardware and software in industrial robot cells. In this paper we propose a semantic grounding of the Sequential Function Charts (SFC) notation for specification of PLC programs. Our semantic grounding is expressed in the OWL semantic language and forms part of our semantic robot framework, called KIF (Knowledge Integration Framework). KIF is a set of ontologies and associated tools to ensure interoperability between heterogeneous equipment making up a robot cell. We also present a tool set for manipulating SFC instances stored in RDF triple stores reachable through the RDF4J framework. The semantic grounding and tool set are evaluated in a teaching-by-demonstration experiment in a small parts assembly setup featuring a collaborative industrial robot, ABB YuMi, where the tool set is used to create and execute SFC descriptions on-the-fly based on data from human demonstrations. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Proceedings of the Intl Conference on Flexible Automation and Intelligent Manufacturing
volume
11
pages
292 - 299
publisher
Elsevier
conference name
International Conference on Flexible Automation and Intelligent Manufacturing
external identifiers
  • scopus:85029832538
ISSN
2351-9789
DOI
10.1016/j.promfg.2017.07.108
language
English
LU publication?
yes
id
9db63cd6-7e50-4945-a147-a5fec8a4b25f
date added to LUP
2017-06-12 11:40:16
date last changed
2018-01-07 12:07:15
@inproceedings{9db63cd6-7e50-4945-a147-a5fec8a4b25f,
  abstract     = {Programmable Logic Controllers (PLCs) play an important role for integration of hardware and software in industrial robot cells. In this paper we propose a semantic grounding of the Sequential Function Charts (SFC) notation for specification of PLC programs. Our semantic grounding is expressed in the OWL semantic language and forms part of our semantic robot framework, called KIF (Knowledge Integration Framework). KIF is a set of ontologies and associated tools to ensure interoperability between heterogeneous equipment making up a robot cell. We also present a tool set for manipulating SFC instances stored in RDF triple stores reachable through the RDF4J framework. The semantic grounding and tool set are evaluated in a teaching-by-demonstration experiment in a small parts assembly setup featuring a collaborative industrial robot, ABB YuMi, where the tool set is used to create and execute SFC descriptions on-the-fly based on data from human demonstrations.},
  author       = {Malec, Jacek and Haage, Mathias and Nilsson, Anders and Stenmark, Maj and Topp, Elin Anna},
  booktitle    = {Proceedings of the Intl Conference on Flexible Automation and Intelligent Manufacturing},
  issn         = {2351-9789},
  language     = {eng},
  pages        = {292--299},
  publisher    = {Elsevier},
  title        = {Semantic modelling of hybrid controllers for robotic cells},
  url          = {http://dx.doi.org/10.1016/j.promfg.2017.07.108},
  volume       = {11},
  year         = {2017},
}