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Modularization of skill ontologies for industrial robots

Jacobsson, Ludwig; Malec, Jacek LU and Nilsson, Klas LU (2016) 47th International Symposium on Robotics, ISR 2016 In 47th International Symposium on Robotics, ISR 2016 p.181-186
Abstract

With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programming 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 paper we report on development of a skill representation model and its implementation in a knowledge base. The developed model is effectively a class hierarchy of the skill... (More)

With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programming 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 paper we report on development of a skill representation model and its implementation in a 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.

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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
47th International Symposium on Robotics, ISR 2016
pages
6 pages
publisher
VDE Verlag gmbh Berlin
conference name
47th International Symposium on Robotics, ISR 2016
external identifiers
  • scopus:84983761017
ISBN
9783800742318
language
English
LU publication?
yes
id
e95be02c-29b3-48e7-b8ea-8549bc2c2dcb
date added to LUP
2017-02-16 13:17:45
date last changed
2017-11-17 10:04:48
@inproceedings{e95be02c-29b3-48e7-b8ea-8549bc2c2dcb,
  abstract     = {<p>With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programming 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 paper we report on development of a skill representation model and its implementation in a 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.</p>},
  author       = {Jacobsson, Ludwig and Malec, Jacek and Nilsson, Klas},
  booktitle    = {47th International Symposium on Robotics, ISR 2016},
  isbn         = {9783800742318},
  language     = {eng},
  pages        = {181--186},
  publisher    = {VDE Verlag gmbh Berlin},
  title        = {Modularization of skill ontologies for industrial robots},
  year         = {2016},
}