Abstract
The aim of our work is the implementation of an Intelligent Robotic System able to deal with assembly tasks. The efficiency of our approach is mainly due to the choice of good heuristics and the early pruning of unnecessary paths in the planning search tree.
Once generated, the high level plan is translated into robot instructions. At this level, some intelligence is needed to guarantee the feasibility of the robot actions. This is the case of object grasping, regrasping to change from one stable position to another, geometric constraints analysis, collision avoidance and free space management.
Some low level sensing operations have been introduced during task execution. It is possible to recover from very simple errors and deal with unexpected situations. The consideration of uncertainties, incomplete or incorrect descriptions of the current state of the objects is also envisaged.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
R. E. Fikes, N. J. Nilsson: STRIPS: A New Approach to the application of Theorem Proving to Problem Solving: Artificial Intelligence, Vol. 2, 1972
S. H. Hutchinson, A. C. Kak: Spar: A Planner that satisfies Operational and Geometric Goals in Uncertain Environments: AI Magazine, Spring 1990
T. Lozano-Perez, J. L. Jones, E. Mazer, P. A. O'Donnell: Task-Level Planning of Pick-and-Place Robot Motions: Computer IEEE, March 1989, pp 21–29
L. H. Mello, A. Sanderson: A Correct and Complete Algorithm for the Generation of Mechanical Assembly Sequences: IEEE Trans. on Robotics and Automation, v. 7, n. 2, pp. 228–240, April 1991
A. Newell, H. Simon: GPS: A Program that simulates Human Thought: in Computer and Thought: E. Feigenbaum, J. Feldman: N.Y., McGraw-Hill, 1963
E. Oliveira, R. Camacho, C. Ramos: A Multi-Agent Environment on Robotics: Robotica, vol. 9, pp. 431–440, Cambridge Univ. Press, 1991
C. Ramos, E. Oliveira: Cooperation Between Vision and Planning Agents in a simple Robotic Environment: Intelligent Autonomous Systems 2, Amsterdam, 1989
C. Ramos, E. Oliveira: The Generation of Efficient High Level Plans and the Robot World Representation in a Cooperative Community of Robotic Agents: ICAR-91-5th International Conference on Advanced Robotics, Pisa, 1991
C. Ramos, E. Oliveira: An Efficient Approach to Planning in Assembly Tasks: Lecture Notes in Artificial Intelligence, n. 541, pp. 210–221, Springer-Verlag, 1991
C. Ramos, E. Oliveira: Closing the Loop of Task Planning, Action and Sensing: IEEE/RSJ International Conference on Intelligent Robots and Systems (EROS'92), Raleigh, North Carolina, USA, 1992
C. Ramos, E. Oliveira: Sensor-Based Reactive Planning and Execution for Robotic Assembly Tasks: IEEE International Conference on Systems Engineering (ICSE'92), Kobe, Japan, 1992
E. D. Sacerdoti: Planning in a Hierarchy of Abstraction Spaces: Artificial Intelligence, Vol. 5, pp 115–135, 1974
E. D. Sacerdoti: A Structure for Plans and Behavior: Elsevier, New York, 1977
A. Tate: Generating Project Networks: 5th International Joint Conference on AI, 1977
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1992 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ramos, C., Oliveira, E. (1992). Towards Intelligent Robotic Assemblies. In: Belli, F., Radermacher, F.J. (eds) Industrial and Engineering Applications of Artificial Intelligence and Expert Systems. IEA/AIE 1992. Lecture Notes in Computer Science, vol 604. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0024988
Download citation
DOI: https://doi.org/10.1007/BFb0024988
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-55601-5
Online ISBN: 978-3-540-47251-3
eBook Packages: Springer Book Archive