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Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Somani, Nikhil; Gaschler, Andre; Rickert, Markus; Perzylo, Alexander; Knoll, Alois 
Titel:
Constraint-Based Task Programming with CAD Semantics: From Intuitive Specification to Real-Time Control 
Abstract:
In this paper, we propose a framework for intuitive task-based programming of robots using geometric inter-relational constraints. The intended applications of this framework are robot programming interfaces that use semantically rich task descriptions, allow intuitive (re-)programming, and are suitable for non-expert users typically found in SMEs. A key concept in this work is the use of CAD semantics to represent geometric entities in the robotic workcell. The robot tasks are then represented...    »
 
Kongress- / Buchtitel:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Konferenzort:
Hamburg, Germany 
Jahr:
2015 
Monat:
Sep 
Seiten:
2854--2859