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An experimental environment for task-level programming of robots

  • Section 4: Robotic Systems And Task-Level Programming
  • Conference paper
  • First Online:
Experimental Robotics II

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

Abstract

This paper deals with the problem of decomposing high-level tasks of production control systems down to the level of code generation for manipulators and machines. Furthermore, the execution of the decomposed tasks, their synchronisation and the reaction on errors is treated. An active, object-oriented knowledge base serves as central location for the domain data of the experimental environment and as active component for the information flow among all autonomous units.

To demonstrate the implemented solution, a complex experimental environment has been prepared in our robotics laboratory. A wall with windows was to be built on a rotating platform out of specified blocks by a PUMA 560 manipulator.

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References

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Author information

Authors and Affiliations

  1. Institut für Informatik, Technische Universität München, Arcisstraße 21, D-8000, Munich 2, Germany

    Gerhard Schrott

Authors
  1. Gerhard Schrott
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Editor information

Raja Chatila Gerd Hirzinger

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© 1993 Springer-Verlag London Limited

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Schrott, G. (1993). An experimental environment for task-level programming of robots. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036140

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  • DOI: https://doi.org/10.1007/BFb0036140

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

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