Automated planning and programming environments for robots

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 75-82 ◽  
Author(s):  
H. A. ElMaraghy ◽  
J. M. Rondeau
Keyword(s):  
Programming Languages ◽  
Industrial Robots ◽  
Robot Programming ◽  
Programming System ◽  
Levels Of Abstraction ◽  
Natural Manner ◽  
Programming Environments ◽  
The Individual ◽  
Time Required ◽  
Task Level

SummaryTraditionally, most industrial robots are programmed by teaching. Automatic planning of robotic tasks has many potential benefits for flexible automation. It allows the user to describe a task to the robot programming system in a formal and natural manner, and reduces the time required to generate and update robot programs. Two main levels of abstraction in describing robot tasks can be identified. Robot-level programming is based on robot movements and actions, as detailed by the programmer. Object-level or task-level programming allows the user to describe assembly tasks in terms of operations performed on objects being manipulated instead of specifying the individual motions of the robot end-effector. However, commercially available robot-level programming languages still fall short of the robot user's need to programme complex tasks and consequently are not widely used in industry. There is an increasing need for integrating sensors feedback into the robot system to provide better perception and for improving the capacity of the robot to reason and make decisions intelligently in real-time. Task-level programming represents the highest level of abstraction and is the most attractive, as it uses reasoning capabilities provided by Artificial Intelligence. To date, no system of this class has been completely implemented in industry. This paper reviews the progress made in robot programming and task planning systems in the last twenty years, and discusses the current research trends.

A graphical robot language developed in Japan

Robotica ◽  
1997 ◽  
Vol 15 (1) ◽  
pp. 99-103 ◽  
Author(s):  
Tamio Arai ◽  
Toshiyuki Itoko ◽  
Hidetoshi Yago
Keyword(s):  
Graphical User Interface ◽  
Arc Welding ◽  
Industrial Robots ◽  
Robot Programming ◽  
Prototype System ◽  
Programming System ◽  
Graphical Interface ◽  
Welding Robot ◽  
Batch Production ◽  
User Friendly

A graphical robot programming system has been developed. This system with a graphical interface is user-friendly and easy-to-learn for low-skill users. It has been developed as a prototype system under a project by the Japan Robot Association (JARA) since 1994. The system runs on a personal computer and consists of a graphical user interface and an editing system. It is designed for programming an arc welding robot in small batch production and is expected to provide low-skill users with a means to use industrial robots with ease.

Intelligent robot programming: you can't get there from here – a viewpoint

Robotica ◽  
1988 ◽  
Vol 6 (4) ◽  
pp. 333-338 ◽  
Author(s):  
S.T. Rock
Keyword(s):  
Natural Language ◽  
Robot Programming ◽  
Programming System ◽  
Intelligent Robot ◽  
Robot System ◽  
Language Understanding ◽  
Intelligent Programming ◽  
Object Level ◽  
Task Level

SUMMARYThe goal of a sophisticated robot programming system is the ability to accept natural language input, such as English, and be able to convert this to a series of robot commands that will achieve the desired robot movement. This paper first examines what is meant by the concept of natural language understanding. Then a bottom-up development of a model of a robot system identifies the levels of control in a robot system and the role of software at each of these. This is related to the various models of software hierarchy that have been proposed by different authors and an essential deviation from these at the object level (or sub-task level) is identified. Finally, a new route is proposed that should be taken in defining the levels of software if intelligent programming of robots is to be achieved.

Robot programming languages: the statement of a problem

Robotica ◽  
1988 ◽  
Vol 6 (2) ◽  
pp. 141-148 ◽  
Author(s):  
L. Van Aken ◽  
H. Van Brussel
Keyword(s):  
Detailed Analysis ◽  
Programming Languages ◽  
Industrial Application ◽  
Research Topic ◽  
Robot Programming ◽  
Programming System ◽  
Level Of Abstraction

SUMMARYThe programming of robots forms a popular research topic. Different approaches for developing ideal robot programming system have already been proposed. They all attempt to raise the level of abstraction of the robot programming system. They differ, however, to a great extent in the stage of maturity they have reached to become eligible for industrial application. “Explicit robot programming languages”, in which every robot action has to be specified explicitly, can be said to be ready for industrial application. Therefore a detailed analysis is made of the requirements that are put on the class of “explicit robot programming languages”. Their basic composing elements are recognized and discussed in detail.

The Use of Logic Programming in Task Planning for Robotized Systems

2015 ◽  
Vol 809-810 ◽  
pp. 1213-1218
Author(s):  
Krzysztof Foit
Keyword(s):  
Logic Programming ◽  
Programming Language ◽  
Early Stage ◽  
Path Selection ◽  
Industrial Robots ◽  
Robot Programming ◽  
Task Planning ◽  
Stage Of Development ◽  
Surgical Field ◽  
Task Level

Preparing the task for the robotic system takes several steps. Programming a robot, as the last step, is preceded by the analysis of possible variants of its implementation and trajectory planning. However, the first step is to recognize the task and to split it into fragments, according to activity, without the reference how to realize them. The modern robotics seeks the way to shorten the time to of program preparation, developing the so-called "programming at the task level." It consists in writing a program in a language, which is similar to natural one, describing only the basic operations, without going into the details of their realization the robot (like collision-free path selection or communication with the environment through interfaces and sensors). The outcome is, for example the special voice interfaces used in robotized surgery that allow the surgeon to cooperate with assisting robot without the need to divert their attention from the surgical field. In case of industrial robots, this method is treated as the experimental one and the interest is confined to purely scientific. This article discusses some aspects of this method with respect to the first stages of the task planning. A description of the robot’s workspace and defining the basic steps in a language which is similar to natural one, allows the use of logic programming language to generate pseudocode, which eventually leads to the realization of the task. Every activity could be then divided into elementary steps that must be described directly in the robot programming language. The presented method is currently at the early stage of development and does not allow the direct programming of the robot, but the generated pseudocode could be the basis of a complete program.

The Design of General Off-Line Graphical Robot Programming System

2017 ◽  
Vol 9 (4) ◽  
pp. 343-352
Author(s):  
Zheng Zhang ◽  
Yonggang Peng ◽  
Yuhui Li
Keyword(s):  
Robot Programming ◽  
Programming System

Improving Efficiency in Robot Assisted Belt Grinding of High Performance Materials

2014 ◽  
Vol 907 ◽  
pp. 139-149 ◽  
Author(s):  
Eckart Uhlmann ◽  
Florian Heitmüller
Keyword(s):  
Gas Turbines ◽  
High Performance ◽  
Scale Effects ◽  
Turbine Blades ◽  
Repair Process ◽  
Industrial Robots ◽  
Robot Assisted ◽  
Belt Grinding ◽  
Economy Of Scale ◽  
The Individual

In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.

scholarly journals Statistical Uncertainty of DNS in Geometries without Homogeneous Directions

2021 ◽  
Vol 11 (4) ◽  
pp. 1399
Author(s):  
Jure Oder ◽  
Cédric Flageul ◽  
Iztok Tiselj
Keyword(s):  
Channel Flow ◽  
A Priori ◽  
Time Integration ◽  
Navier Stokes ◽  
Statistical Uncertainty ◽  
Time Step ◽  
Order Of Magnitude ◽  
Averaging Time ◽  
The Individual ◽  
Time Required

In this paper, we present uncertainties of statistical quantities of direct numerical simulations (DNS) with small numerical errors. The uncertainties are analysed for channel flow and a flow separation case in a confined backward facing step (BFS) geometry. The infinite channel flow case has two homogeneous directions and this is usually exploited to speed-up the convergence of the results. As we show, such a procedure reduces statistical uncertainties of the results by up to an order of magnitude. This effect is strongest in the near wall regions. In the case of flow over a confined BFS, there are no such directions and thus very long integration times are required. The individual statistical quantities converge with the square root of time integration so, in order to improve the uncertainty by a factor of two, the simulation has to be prolonged by a factor of four. We provide an estimator that can be used to evaluate a priori the DNS relative statistical uncertainties from results obtained with a Reynolds Averaged Navier Stokes simulation. In the DNS, the estimator can be used to predict the averaging time and with it the simulation time required to achieve a certain relative statistical uncertainty of results. For accurate evaluation of averages and their uncertainties, it is not required to use every time step of the DNS. We observe that statistical uncertainty of the results is uninfluenced by reducing the number of samples to the point where the period between two consecutive samples measured in Courant–Friedrichss–Levy (CFL) condition units is below one. Nevertheless, crossing this limit, the estimates of uncertainties start to exhibit significant growth.

scholarly journals Leveraging Graphical User Interface Automation for Generic Robot Programming

Robotics ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 3
Author(s):  
Tudor B. Ionescu
Keyword(s):  
User Interface ◽  
Graphical User Interface ◽  
Programming Models ◽  
Shop Floor ◽  
Robot Programming ◽  
User Interactions ◽  
Programming Environments ◽  
Automated Generation ◽  
Novel Approach ◽  
Block Based

A novel approach to generic (or generalized) robot programming and a novel simplified, block-based programming environment, called “Assembly”, are introduced. The approach leverages the newest graphical user interface automation tools and techniques to generate programs in various proprietary robot programming environments by emulating user interactions in those environments. The “Assembly” tool is used to generate robot-independent intermediary program models, which are translated into robot-specific programs using a graphical user interface automation toolchain. The generalizability of the approach to list, tree, and block-based programming is assessed using three different robot programming environments, two of which are proprietary. The results of this evaluation suggest that the proposed approach is feasible for an entire range of programming models and thus enables the generation of programs in various proprietary robot programming environments. In educational settings, the automated generation of programs fosters learning different robot programming models by example. For experts, the proposed approach provides a means for generating program (or task) templates, which can be adjusted to the needs of the application at hand on the shop floor.

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