DocumentCode :
2244057
Title :
Error-tolerant execution of complex robot tasks based on skill primitives
Author :
Thomas, Ulrike ; Finkemeyer, Bemd ; Kröger, Torsten ; Wahl, Friedrich M.
Author_Institution :
Inst. for Robotics & Process Control, Tech. Univ. Braunschweig, Germany
Volume :
3
fYear :
2003
fDate :
14-19 Sept. 2003
Firstpage :
3069
Abstract :
This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of so-called skill primitive nets, which are based on Mason´s hybrid force/velocity and position control concept, but it is not limited to force/velocity and position control. Two examples are given to illustrate the formally defined skill primitive nets. We evaluated the controller and the trajectory planner by several experiments. Skill primitives suite very well as interface to robot control systems. The presented hybrid control approach provides a modular, flexible, and robust system; stability is guaranteed, particularly at transitions of two skill primitives. With the interface explained here, the results of compliance motion planning become possible to be examined in real work cells. We have implemented an algorithm to search for mating directions in up to three-dimensional configuration-spaces. Thereby, on one hand we have released compliant motion control concepts and on the other hand we can provide solutions for fine motion and assembly planning. This paper shows, how these two fields can be combined by the general concept of skill primitive nets introduced here, in order to establish a powerful system, which is able to automatically execute prior calculated assembly plans based on CAD-data in uncertain environments.
Keywords :
CAD; assembly planning; compliance control; force control; path planning; position control; robotic assembly; velocity control; 3D configuration spaces; CAD data; Masons hybrid force velocity control; assembly planning; compliance motion planning; compliant motion control; error tolerant execution; error-tolerant execution; position control; robot control systems; skill primitive nets; stability; trajectory planner; Assembly systems; Control systems; Motion planning; Position control; Robot control; Robot programming; Robot sensing systems; Robotic assembly; Robotics and automation; Robust stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-7736-2
Type :
conf
DOI :
10.1109/ROBOT.2003.1242062
Filename :
1242062
Link To Document :
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