Title :
Application of a Generic Constraint-Based Programming Approach to an Industrially Relevant Robot Task with Geometric Uncertainties
Author :
Decré, Wilm ; De Laet, Tinne ; Rutgeerts, Johan ; Bruyninckx, Herman ; De Schutter, Joris
Author_Institution :
K.U. Leuven, Leuven
Abstract :
This paper shows the application of a generic constraint-based task specification approach for sensor-based robot systems to a laser tracing example. Key properties of the used approach are (i) its ability to specify complex robot tasks by introducing auxiliary task-oriented feature coordinates, defined with respect to user-defined object and feature frames, (ii) its support for both underconstrained and overconstrained robot tasks, and (iii) its ability to integrate sensor measurements in a unified way, using auxiliary uncertainty coordinates, to estimate geometric uncertainties in the robot system or its environment. Simulation and real world experimental results are presented.
Keywords :
computational complexity; industrial robots; robot programming; auxiliary task-oriented feature coordinate; generic constraint-based programming approach; geometric uncertainty; industrial relevant robot task; laser tracing; sensor-based robot system; user-defined object; Application software; Force control; Motion control; Robot control; Robot kinematics; Robot programming; Robot sensing systems; Service robots; Solid modeling; Uncertainty; constraint-based programming; control; estimation; geometric uncertainty; laser tracing; task specification;
Conference_Titel :
EUROCON, 2007. The International Conference on "Computer as a Tool"
Conference_Location :
Warsaw
Print_ISBN :
978-1-4244-0813-9
Electronic_ISBN :
978-1-4244-0813-9
DOI :
10.1109/EURCON.2007.4400691