Skip to main content
SpringerLink
Log in

From High-Level Task Descriptions to Executable Robot Code

  • Conference paper
Intelligent Systems'2014

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 323))

Abstract

For robots to be productive co-workers in the manufacturing industry, it is necessary that their human colleagues can interact with them and instruct them in a simple manner. The goal of our research is to lower the threshold for humans to instruct manipulation tasks, especially sensor-controlled assembly. In our previous work we have presented tools for high-level task instruction, while in this paper we present how these symbolic descriptions of object manipulation are translated into executable code for our hybrid industrial robot controllers.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Björkelund, A., Edström, L., Haage, M., Malec, J., Nilsson, K., Nugues, P., Robertz, S.G., Störkle, D., Blomdell, A., Johansson, R., Linderoth, M., Nilsson, A., Robertsson, A., Stolt, A., Bruyninckx, H.: On the integration of skilled robot motions for productivity in manufacturing. In: Proc. IEEE International Symposium on Assembly and Manufacturing, Tampere, Finland (2011), doi:10.1109/ISAM.2011.5942366

    Google Scholar 

  2. Malec, J., Nilsson, K., Bruyninckx, H.: Describing assembly tasks in a declarative way. In: ICRA 2013 WS on Semantics, Identification and Control of Robot-Human-Environment Interaction (2013)

    Google Scholar 

  3. Stenmark, M., Malec, J.: Knowledge-Based Industrial Robotics. In: Proc. of the 12th Scandinavian AI Conference, Aalborg, Denmark, November 20-22 (2013), http://dx.doi.org/10.3233/978-1-61499-330-8-265

  4. Stenmark, M., Malec, J.: Describing constraint-based assembly tasks in unstructured natural language. In: Proc. IFAC 2014 World Congress, Capetown, South Africa, August 24-29 (2014)

    Google Scholar 

  5. Kent, S.: Model Driven Engineering. In: Butler, M., Petre, L., Sere, K. (eds.) IFM 2002. LNCS, vol. 2335, pp. 286–298. Springer, Heidelberg (2002)

    Chapter  Google Scholar 

  6. Vanthienen, D., Klotzbuecher, M., Bruyninckx, H.: The 5C-based architectural Composition Pattern. JOSER 5(1), 17–35 (2014)

    Google Scholar 

  7. Stenmark, M., Nugues, P.: Natural Language Programming of Industrial Robots. In: Proc. International Symposium of Robotics 2013, Seoul, South Korea (October 2013)

    Google Scholar 

  8. Blomdell, A., Dressler, I., Nilsson, K., Robertsson, A.: Flexible Application Development and High-performance Motion Control Based on External Sensing and Reconfiguration of ABB Industrial Robot Controllers. In: Proc. of ICRA 2010, Anchorage, USA, pp. 62–66 (2010)

    Google Scholar 

  9. Björkelund, A., Malec, J., Nilsson, K., Nugues, P., Bruyninckx, H.: Knowledge for Intelligent Industrial Robots. In: Proc. AAAI 2012 Spring Symp. on Designing Intelligent Robots. Stanford Univ. (March 2012)

    Google Scholar 

  10. Stenmark, M., Malec, J., Nilsson, K., Robertsson, A.: On Distributed Knowledge Bases for Industrial Robotics Needs. In: Proc. Cloud Robotics Workshop at IROS 2013, Tokyo (November 3, 2013), http://www.roboearth.org/wpcontent/uploads/2013/03/final-13.pdf

  11. ABB RobotStudio, http://new.abb.com/products/robotics/robotstudio (visited February 04, 2013)

  12. Theorin, A.: Adapting Grafchart for Industrial Automation. Licentiate Thesis, Lund University, Department of Automatic Control (2013)

    Google Scholar 

  13. IEC. IEC 61131-3: Programmable controllers – part 3: Programming languages. Technical report, International Electrotechnical Commission (2003)

    Google Scholar 

  14. Harel, D.: Statecharts: A visual formalism for complex systems. Science of Computer Programming 8, 231–274 (1987)

    Article  MathSciNet  MATH  Google Scholar 

  15. Stenmark, M., Stolt, A.: A System for High-Level Task Specification Using Complex Sensor-based Skill. In: RSS 2013 Workshop, Programming with Constraints: Combining High-level Action Specification and Low-level Motion Execution, Berlin, Germany (2013)

    Google Scholar 

  16. De Schutter, J., De Laet, T., Rutgeerts, J., Decré, W., Smits, R., Aertbeliën, E., Claes, K., Bruyninckx, H.: Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. The International Journal of Robotics Research 26(5), 433–455 (2007)

    Article  Google Scholar 

  17. Pan, Z., Polden, J., Larkin, N., van Duin, S., Norrish, J.: Recent progress on programming methods for industrial robots. In: 41st International Symposium on Robotics (ISR) and 6th German Conference on Robotics (ROBOTIK), pp. 619–626. VDE VERLAG GMBH, Berlin (2010)

    Google Scholar 

  18. Rossano, G., Martinez, C., Hedelind, M., Murphy, S., Fuhlbrigge, T.: Easy robot programming concepts: An industrial perspective. In: Proceedings 9th IEEE International Conference on Automation Science and Engineering, Madison, Wisconsin, USA (2013)

    Google Scholar 

  19. Billard, A., Calinon, S., Dillmann, R., Schaal, S.: Robot Programming by Demonstration. In: Springer Handbook of Robotics, pp. 1371–1394. Springer (2008)

    Google Scholar 

  20. Nilsson, A., Muradore, R., Nilsson, K., Fiorini, P.: Ontology for Robotics: a Roadmap. In: Proceedings of the Int. Conf. Advanced Robotics (ICAR 2009), Munich, Germany (2009)

    Google Scholar 

  21. Mitsi, S., Bouzakis, K.-D., Mansour, G., Sagris, D., Maliaris, G.: Off-line programming of an industrial robot for manufacturing. Int. J. Adv. Manuf. Technol. 26, 262–267 (2005)

    Article  Google Scholar 

  22. Bottazzi, V., Fonseca, J.: Off-line Programming Industrial Robots Based in the Information Extracted From Neutral Files Generated by the Commercial CAD Tools Industrial Robotics: Programming. In: Huat, L.K. (ed.) Simulation and Application (2006) ISBN 3-86611-286-6

    Google Scholar 

  23. Hägele, M., Nilsson, K., Pires, J.N.: Industrial Robotics. In: Springer Handbook of Robotics, pp. 963–986. Springer (2008)

    Google Scholar 

  24. Bischoff, R., Kazi, A., Seyfarth, M.: The morpha style guide for icon-based programming. In: Proc. of the IEEE Int. Workshop on Robot and Human Interactive Communication (2002)

    Google Scholar 

  25. Neto, P., Pires, J.N., Moreira, A.P.: High-level programming and control for industrial robotics: using a hand-held accelerometer-based input device for gesture and posture recognition. Industrial Robot 37(2), 137–147 (2010)

    Article  Google Scholar 

  26. Stolt, A., Linderoth, M., Robertsson, A., Johansson, R.: Force controlled assembly of emergency stop button. In: 2011 IEEE International Conference on Robotics and Automation, Shanghai, China (May 2011)

    Google Scholar 

  27. Kröger, T., Finkemeyer, B., Wahl, F.M.: Manipulation Primitives — A Universal Interface between Sensor-Based Motion Control and Robot Programming. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 293–313. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  28. Beetz, M., Mösenlechner, L., Tenorth, M.: CRAM: A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments. In: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22 (2010)

    Google Scholar 

  29. Kresse, I., Beetz, M.: Movement-Aware Action Control Integrating Symbolic and Control-Theoretic Action Execution. In: Proc. ICRA 2012, pp. 3245–3251 (2012)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dept. of Computer Science, Lund University, 221 00, Lund, Sweden

    Maj Stenmark & Jacek Malec

  2. Dept. of Automatic Control, Lund University, 221 00, Lund, Sweden

    Andreas Stolt

Authors
  1. Maj Stenmark
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jacek Malec
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Andreas Stolt
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Maj Stenmark .

Editor information

Editors and Affiliations

  1. Ford Motor Company, Research & Advanced Engineering, Dearborn, Mississippi, USA

    D. Filev

  2. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    J. Jabłkowski

  3. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    J. Kacprzyk

  4. Polish Academy of Sciences and WIT - Warsaw School of Information Technology, Systems Research Institute, Warsaw, Poland

    M. Krawczak

  5. Bulgarian Academy of Sciences, Institute of Information and Communication, Sofia, Bulgaria

    I. Popchev

  6. Department of Computer Engineering, Częstochowa University of Technology, Częstochowa, Poland

    L. Rutkowski

  7. Bulgarian Academy of Sciences, Institute of Information and Communication Technologies, Sofia, Bulgaria

    V. Sgurev

  8. Department of Computer and Information Technologies, “Prof. Assen Zlatarov" University Faculty of Technical Sciences, Bourgas, Bulgaria

    E. Sotirova

  9. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    P. Szynkarczyk

  10. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    S. Zadrozny

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Stenmark, M., Malec, J., Stolt, A. (2015). From High-Level Task Descriptions to Executable Robot Code. In: Filev, D., et al. Intelligent Systems'2014. Advances in Intelligent Systems and Computing, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-319-11310-4_17

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-11310-4_17

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11309-8

  • Online ISBN: 978-3-319-11310-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation