Knowledge and Tasks Representation for an Industrial Robotic Application
The paper presents an implementation of knowledge representation and task representation, based on ontologies for an Industrial Robotic Application. The industrial application is to insert up to 56 small pins, e.g., sealants, in a harness box terminal for the automotive industry. The number of sealants and their insertion pattern vary significantly with the production requests. Based on the knowledge representation of the robot and also based on the tasks to be performed, plans are built and then sent to the robot controller based on the seal pattern production order. Moreover, the robotic system is capable to perform re-planning when an insertion error is reported by a machine vision system. The ontology-based approach was used to define the robot, the machine vision system, and the tasks that were needed to be performed by the robotic system. The robotic system was validated experimentally by showing its capability to correct seal insertion errors, while re-planning.
KeywordsKnowledge representation Ontologies Robot tasks Industrial robots Machine vision
This work was partly supported by Instituto Politecnico de Castelo Branco and by FCT, through IDMEC, under LAETA, project UID/EMS/50022/2013.
- 2.Smith, N.: Enhancing Automotive Wire Harness Manufacturing Through Digital Continuity, SAE Technical Paper 2015-01-0238 (2015). https://doi.org/10.4271/2015-01-0238
- 3.Prestes, E., Carbonera, J.L., Fiorini, S.R., Jorge, V.A.M., Abel, M., Madhavan, R., Locoro, A., Goncalves, P., Barreto, M.E., Habib, M., Chibani, A., Grard, S., Amirat, Y., Schlenoff, C.: Towards a core ontology for robotics and automation. Robot. Auton. Syst. 61(11), 1193–1204 (2013). https://doi.org/10.1016/j.robot.2013.04.005 CrossRefGoogle Scholar
- 5.Balakirsky, S., Schlenoff, C., Fiorini, S., Redfield, S., Barreto, M., Nakawala, H., Carbonera, J.L., Soldatova, L., Bermejo-Alonso, J., Maikore, F., Gonalves, P.J.S., De Momi, E., Ragavan, V., Haidegger, T.: Towards a robot task ontology standard. In: Proceedings of the 12th Manufacturing Science and Engineering Conference, Los Angeles, USA (2017)Google Scholar
- 6.IEEE Std. 1872-2015: IEEE Standard Ontologies for Robotics and Automation (2015). https://doi.org/10.1109/IEEESTD.2015.7084073
- 7.Carbonera, J., Fiorini, S., Prestes, E., Jorge, V.A.M., Abel, M., Madhavan, R., Locoro, A., Gonalves, P.J.S., Haidegger, T., Barreto, M.E., Schlenoff, C.: Defining positioning in a core ontology for robotics. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1867–1872, Tokyo, Japan (2013). https://doi.org/10.1109/IROS.2013.6696603
- 8.Pease, A., Niles, I., Li, J.: The suggested upper merged ontology: a large ontology for the semantic web and its applications. In: Working Notes of the AAAI-2002 Workshop on Ontologies and the Semantic Web, vol. 28 (2002)Google Scholar