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Document type:
Konferenzbeitrag 
Author(s):
Somani, Nikhil; Rickert, Markus; Gaschler, Andre; Cai, Caixia; Perzylo, Alexander; Knoll, Alois 
Title:
Task Level Robot Programming using Prioritized Non-Linear Inequality Constraints 
Abstract:
In this paper, we propose a framework for prioritized constraint-based specification of robot tasks. This framework is integrated with a cognitive robotic system based on semantic models of processes, objects, and workcells. The target is to enable intuitive (re-)programming of robot tasks, in a way that is suitable for non-expert users typically found in SMEs. Using CAD semantics, robot tasks are specified as geometric interrelational constraints. During execution, these are combined with const...    »
 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2016 
Month:
Oct 
Pages:
430--437