A general organizer model for robotic assemblies and intelligent robotic systems

A general purpose organization level model for robotic assemblies and intelligent robotic systems is proposed. The methodology and algorithm described consider both well-defined and fuzzy/imprecise environments. The user input commands to the system organizer, an IKBS, are linguistic in general and the primitive events-tasks from the task domain are in general interpreted via fuzzy sets. The constraint of task precedence and the concepts of criticality of tasks-events and valid repetitive orderings are introduced to facilitate and optimize the formulation of every complete plan capable of executing a user-requested job. An example demonstrates the applicability of the proposed algorithm to robotic assemblies