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Document type:
Konferenzbeitrag 
Author(s):
Wildgrube, Fabian; Perzylo, Alexander; Rickert, Markus; Knoll, Alois 
Title:
Semantic Mates: Intuitive Geometric Constraints for Efficient Assembly Specifications 
Abstract:
In this paper, we enhance our knowledge-based and constraint-based approach of robot programming with the concept of Semantic Mates. They describe intended mechanical connections between parts of an assembly. This allows deriving appropriate assembly poses from the type of connection and the geometric properties of the involved parts. The paper presents an ontology-based representation of Semantic Mates that is used to augment object models with additional information regarding their potential u...    »
 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2019 
Month:
Nov