The use of a suitable knowledge representation model to facilitate the conversion of task-level descriptions into explicit instructions to a robot is discussed. Such a system would use symbolic relationships to describing a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot. The modeling method provides an organizational structure that maps the relationships between the components of an assembly into a set of constraints. These constraints are simplified using a number of rules to determine the available degrees of freedom for a component. When a new relationship is to be established, the required motion is calculated and the feasibility of this motion is determined by checking against the available degrees of freedom.
|Original language||English (US)|
|Number of pages||7|
|Journal||Proceedings of the American Control Conference|
|State||Published - Dec 1 1987|