A prototype-based skill model for specifying robotic assembly tasks

Frank Naegele1, Lorenz Halt2, Philipp Tenbrock2, Andreas Pott3

  • 1Fraunhofer IPA
  • 2Fraunhofer Institute for Manufacturing Engineering and Automatio
  • 3Fraunhofer-Gesellschaft

Details

Category

Interactive Session

Sessions

10:30 - 13:00 | Tue 22 May | podJ | TuA@J

Software

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Abstract

In recent years, a number of publications described approaches for model-based manipulation skills and their applicability to a variety of robot tasks - be it assembly, industrial robotics in general, or service robotics. These approaches roughly follow the same pattern: They model robot task description based on the Task Frame Formalism, the Task Function Approach, or iTaSC. They model coordination mechanisms in form of statecharts or Petri nets. And almost all models are accompanied by domain-specific languages (DSLs) that facilitate creating applications based on those models. While one advantage of using models is their reusability across applications, how to explicitly model the reuse itself has not been fully addressed by these publications. Our paper contributes to this field of research by investigating how reuse can be explicitly modeled using prototype-based inheritance. We base our model on iTaSC and provide a simple yet effective DSL for populating the model and creating applications. We demonstrate our approach by creating a comprehensive library of skills, and by showing the use, reuse and incremental refinement of skills for diverse industrial assembly applications.

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Summary

Exemplary application: Snap-mounting electronic equipment on top-hat rails

  • A skill model using a prototype-based inheritance scheme is presented
  • The model is based on iTaSC and a simple yet effective domain-specific language is provided
  • The composition, reuse and incremental refinement of skills is explicitly modeled
  • A comprehensive library of skills and the implementation of diverse industrial assembly applications are demonstrated