User: Guest  Login
Title:

Constraint-Based Task Programming with CAD Semantics: From Intuitive Specification to Real-Time Control

Document type:
Konferenzbeitrag
Author(s):
Somani, Nikhil; Gaschler, Andre; Rickert, Markus; Perzylo, Alexander; Knoll, Alois
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...     »
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year:
2015
Month:
Sep
Pages:
2854--2859
Fulltext / DOI:
doi:10.1109/IROS.2015.7353770
WWW:
http://youtu.be/qRJ1JmNoFEw
 BibTeX