Knowledge representation system for robot-based automated assembly

Anil Jain, Max Donath

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

The complexity of the man-machine interface and the issues of controlling a robot and ensuring that the robot does indeed complete the task are significant obstacles to the use of robots in the assembly environment. We have developed a knowledge representation model for robots in the assembly environment. The proposed model provides a means of using apriori knowledge and reasoning capabilities for specifying, controlling, and monitoring the tasks performed by robots. This knowledge representation model facilitates robot programming and real time error prevention. We describe the object models for the proposed knowledge presentation system and present the constraint enforcing environment for the modeling of assemblies. This includes the representation of constraints and the rules for simplifying constraints and motion strategies for primitives and assemblies.

Original languageEnglish (US)
Pages (from-to)462-469
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume111
Issue number3
DOIs
StatePublished - Sep 1989

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