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Control of industrial robots through high-level task programming
Linköpings universitet, Institutionen för datavetenskap. Linköpings universitet, Tekniska högskolan.
2000 (Engelska)Licentiatavhandling, monografi (Övrigt vetenskapligt)
Abstract [en]

In this thesis we present an experimental research platform in robotics, XPROB. This platform has been designed to be a tool that facilitates the development of robotic applications. XPROB achieves a flexible prototyping system that features a task-level programming environment, a dynamic representation of the work-cell's equipment, and sensor data integration at runtime allowing on-line program monitoring and adaptation.

This thesis describes how the object-orientation paradigm combined with a traditional layered-control structure lead to an open and dynamic architecture. It also presents an advanced object representation to handle high-level reasoning, even about partially recognized objects.

The platform was first evaluated using simple robotic applications, such as assembly and sensor-guided actions. Afterwards, an industrial application, consisting of a disassembly line for worn-out electric motors, was successfully set up and controlled by our platform.

Ort, förlag, år, upplaga, sidor
Linköping: Linköpings universitet , 2000. , s. 99
Serie
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 820
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
URN: urn:nbn:se:liu:diva-145914Lokalt ID: LiU-TEK-LIC-2000:16ISBN: 9172197013 (tryckt)OAI: oai:DiVA.org:liu-145914DiVA, id: diva2:1200189
Presentation
2000-05-04, Estraden, hus E, Campus Valla, Linköping, Sweden, 13:15 (Svenska)
Anmärkning

This work has been supported by the Swedish National Board for Industrial and Technical Development (NUTEK).

Tillgänglig från: 2018-04-23 Skapad: 2018-04-23 Senast uppdaterad: 2018-11-22Bibliografiskt granskad

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