The complexity of the man-machine interface and the issues of controlling a robot and ensuring that the robot does indeed complete the task are significant obstacles to the use of robots in the assembly environment. We have developed a knowledge representation model for robots in the assembly environment. The proposed model provides a means of using apriori knowledge and reasoning capabilities for specifying, controlling, and monitoring the tasks performed by robots. This knowledge representation model facilitates robot programming and real time error prevention. We describe the object models for the proposed knowledge presentation system and present the constraint enforcing environment for the modeling of assemblies. This includes the representation of constraints and the rules for simplifying constraints and motion strategies for primitives and assemblies.
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September 1989
Research Papers
Knowledge Representation System for Robot-Based Automated Assembly
Anil Jain,
Anil Jain
Productivity Center, Department of Mechanical Engineering, University of Minnesota, Minneapolis, Minn. 55455
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Max Donath
Max Donath
Productivity Center, Department of Mechanical Engineering, University of Minnesota, Minneapolis, Minn. 55455
Search for other works by this author on:
Anil Jain
Productivity Center, Department of Mechanical Engineering, University of Minnesota, Minneapolis, Minn. 55455
Max Donath
Productivity Center, Department of Mechanical Engineering, University of Minnesota, Minneapolis, Minn. 55455
J. Dyn. Sys., Meas., Control. Sep 1989, 111(3): 462-469 (8 pages)
Published Online: September 1, 1989
Article history
Received:
March 1, 1987
Revised:
October 1, 1988
Online:
July 21, 2009
Citation
Jain, A., and Donath, M. (September 1, 1989). "Knowledge Representation System for Robot-Based Automated Assembly." ASME. J. Dyn. Sys., Meas., Control. September 1989; 111(3): 462–469. https://doi.org/10.1115/1.3153076
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