Fine-motion strategies programming for robots

The paper presents a research on control and programming fault-tolerant robot fine-motions for constraint tasks encountered, for instance, in robot automation of assembly processes. It concerns mainly the problem of the autonomous adjustment of fine-motion misplacement which can be resulted from a number of factors but especially from the constrained accuracy of robots. It has been proposed to apply a task-level programming concept which assumes that user programs specify only goals of robot motions without any need to develop means ensuring the goals to be achieved. The control programs including such means can be synthesized by an automatic programming system developed for complementing user programs with the sensor-based fine-motion control strategies. The system presented was applied in a supervisory level of the three-layered control system of Zebra ZERO research robot, for experimental verification of the proposed approach