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A System Architecture for CAD-Based Robotic Assembly With Sensor-Based Skills

Tijdschriftbijdrage - Tijdschriftartikel

Specifying assembly tasks in computer-aided design (CAD) level is a promising approach to intuitively program complex robot skills. In this article, a three-layered system architecture is presented to generate sensor-based robot skills from an assembly task instance. The architecture consists of an application layer where the user instantiates assembly tasks by specifying CAD constraints between geometric primitives pairs. A process layer infers the most suitable robot skills and their appropriate parameters. This inference is made possible by reasoning on a knowledge database represented as an ontology. The ontology contains semantic models of relevant classes such as tasks, skills, and geometric primitives as well as the relations between them. A control layer executes the sensor-based skills in real time using the eTaSL programming framework. A software implementation for the three layers is presented. The application layer is implemented in FreeCAD, whereas the process layer consists of a Web ontology language (OWL) ontology, a Prolog-based reasoner, and fuzzy inference to correctly select the skill and generate its parameters. In the control layer, the instantiated eTaSL skills execute the assembly tasks by sending an optimized control command to the robot. The system is validated on two challenging assembly cases with two distinct robot types, thus demonstrating the system's capability across different scenarios.
Tijdschrift: Ieee Transactions On Automation Science And Engineering
ISSN: 1545-5955
Issue: 3
Volume: 17
Pagina's: 1237 - 1249
Jaar van publicatie:2020
BOF-keylabel:ja
IOF-keylabel:ja
BOF-publication weight:2
CSS-citation score:1
Auteurs:International
Authors from:Higher Education
Toegankelijkheid:Open