Robot Task-Level Programming Language and Simulation
This paper presents the development of a software
application for Off-line robot task programming and simulation. Such
application is designed to assist in robot task planning and to direct
manipulator motion on sensor based programmed motion. The
concept of the designed programming application is to use the power
of the knowledge base for task accumulation. In support of the
programming means, an interactive graphical simulation for
manipulator kinematics was also developed and integrated into the
application as the complimentary factor to the robot programming
media. The simulation provides the designer with useful,
inexpensive, off-line tools for retain and testing robotics work cells
and automated assembly lines for various industrial applications.
[1] R. Willgoss, and J. Iqbal, "Neurofuzzy Learning of Mobile Robot
Behaviors", Proceeding of the12th Australian Joint Conference on
Artificial Intelligence, AI '99, Sydney, Australia, December 6-10, 1999,
pp. 278-290.
[2] S. Lopes, and J. Connell, "Sentience in Robots: Applications and
Challenges", IEEE Intelligent Systems, Computer Society, 5(16), 2001,
pp. 66-84.
[3] T. Längle, T. Lüth, E. Stopp, and G. Herzog, "Natural Language Access
to Intelligent Robots: Explaining Automatic Error Recovery", In: A. M.
Ramsay (ed.), Artificial Intelligence: Methodology, Systems,
Applications, Amsterdam, IOS Press, 1996, pp. 259-267.
[4] W. Suwannik, and P. Chongstitvatana, "Improving the robustness of
evolved robot arm control programs with multiple configurations",
Proceeding of the 2nd Asian Symposium on Industrial Automation and
Robotics, Bangkok, Thailand, May 17-18, 2001, pp. 87-90.
[5] H. Cheng, and K. Gupta, "A Study of Robot Inverse Kinematics Based
upon the Solution of Differential Equations", Journal of Robotic
Systems, 8(2), 1991, pp. 159-175.
[6] J. Buhmann, W. Burgard, A. Cremers, D. Fox, T. Hofmann, E.
Schneider, J. Strikos, and S. Thurn, "The Mobile Robot RHINO", AI
Magazine, 1(16), 1995, pp. 31-38.
[7] EASY-ROB "3D Robot Simulation", CARAT robotic innovation,
Germany. Available: http://www.easy-rob.de/product.html.
[8] ROBOT3D- "Robot Offline Programming & Simulation", Portugal,
Available: http://clientes.netvisao.pt/fnavegan/example2.htm.
[9] J. Denavit, and R. Hartenberg, "A kinematics notation for lower pair
mechanisms based on matrices", ASME Journal of Applied Mechanics,
June, 1955, Volume 22, pp. 215-221.
[1] R. Willgoss, and J. Iqbal, "Neurofuzzy Learning of Mobile Robot
Behaviors", Proceeding of the12th Australian Joint Conference on
Artificial Intelligence, AI '99, Sydney, Australia, December 6-10, 1999,
pp. 278-290.
[2] S. Lopes, and J. Connell, "Sentience in Robots: Applications and
Challenges", IEEE Intelligent Systems, Computer Society, 5(16), 2001,
pp. 66-84.
[3] T. Längle, T. Lüth, E. Stopp, and G. Herzog, "Natural Language Access
to Intelligent Robots: Explaining Automatic Error Recovery", In: A. M.
Ramsay (ed.), Artificial Intelligence: Methodology, Systems,
Applications, Amsterdam, IOS Press, 1996, pp. 259-267.
[4] W. Suwannik, and P. Chongstitvatana, "Improving the robustness of
evolved robot arm control programs with multiple configurations",
Proceeding of the 2nd Asian Symposium on Industrial Automation and
Robotics, Bangkok, Thailand, May 17-18, 2001, pp. 87-90.
[5] H. Cheng, and K. Gupta, "A Study of Robot Inverse Kinematics Based
upon the Solution of Differential Equations", Journal of Robotic
Systems, 8(2), 1991, pp. 159-175.
[6] J. Buhmann, W. Burgard, A. Cremers, D. Fox, T. Hofmann, E.
Schneider, J. Strikos, and S. Thurn, "The Mobile Robot RHINO", AI
Magazine, 1(16), 1995, pp. 31-38.
[7] EASY-ROB "3D Robot Simulation", CARAT robotic innovation,
Germany. Available: http://www.easy-rob.de/product.html.
[8] ROBOT3D- "Robot Offline Programming & Simulation", Portugal,
Available: http://clientes.netvisao.pt/fnavegan/example2.htm.
[9] J. Denavit, and R. Hartenberg, "A kinematics notation for lower pair
mechanisms based on matrices", ASME Journal of Applied Mechanics,
June, 1955, Volume 22, pp. 215-221.
@article{"International Journal of Information, Control and Computer Sciences:59656", author = "M. Samaka", title = "Robot Task-Level Programming Language and Simulation", abstract = "This paper presents the development of a software
application for Off-line robot task programming and simulation. Such
application is designed to assist in robot task planning and to direct
manipulator motion on sensor based programmed motion. The
concept of the designed programming application is to use the power
of the knowledge base for task accumulation. In support of the
programming means, an interactive graphical simulation for
manipulator kinematics was also developed and integrated into the
application as the complimentary factor to the robot programming
media. The simulation provides the designer with useful,
inexpensive, off-line tools for retain and testing robotics work cells
and automated assembly lines for various industrial applications.", keywords = "Robot programming, task-level programming, robot
languages, robot simulation, robotics software.", volume = "1", number = "9", pages = "2800-5", }