调度POP-Star自动创建机器人单元程序

Batu Akan, Baran Çürüklü, L. Asplund
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引用次数: 1

摘要

典型的拾取放置和机器维护应用通常需要将工业机器人嵌入到单元中,并与单元中的其他设备进行通信。编程程序逻辑是一项繁琐的工作,需要专业的编程知识,而且它可能比编程特定的机器人动作本身花费更多的时间。我们提出了一个新的系统,该系统以自然语言描述的整个制造过程作为输入,填充隐式动作,并使用改进的部分规划算法来计划动作序列,以在最小的makespan内完成任务。最后,我们证明了所提出的系统可以根据给定的指令给出合理的方案。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Scheduling POP-Star for automatic creation of robot cell programs
Typical pick and place, and machine tending applications often require an industrial robot to be embedded in a cell and to communicate with other devices in the cell. Programming the program logic is a tedious job, requiring expert programming knowledge, and it can take more time than programming the specific robot movements itself. We propose a new system, which takes in the description of the whole manufacturing process in natural language as input, fills in the implicit actions, and plans the sequence of actions to accomplish the task described in minimal makespan using a modified partial planning algorithm. Finally we demonstrate that the proposed system can come up with a sensible plan for the given instructions.
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