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A Module-Based Skill Ontology for Industrial Robots

Jacobsson, Ludwig LU (2015) In 1650-2884 EDA920 20151
Department 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:
author
Jacobsson, Ludwig LU
supervisor
organization
course
EDA920 20151
year
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},
  keyword      = {robot skill,ontology,modularization,industrial robots},
  language     = {eng},
  note         = {Student Paper},
  series       = {1650-2884},
  title        = {A Module-Based Skill Ontology for Industrial Robots},
  year         = {2015},
}