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Automatic robot programming by CAST

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Computer Aided Systems Theory — EUROCAST '91 (EUROCAST 1991)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 585))

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Abstract

A comprehensive framework for generating a robot's program for an automated production system will require an integration of several layers of system theory-based support methods and tools. Each layer of the robot's program synthesis system requires different CAST tools. The tools for each level are:

  1. Level 1

    :graph search methods

  2. Level 2

    :Petri net methodology

  3. Level 3

    :discrete dynamical system methods

  4. Level 4

    :discrete optimization methods

  5. Level 5

    :event based system formalism

Our current research focuses on developing an architecture that will facilitate:

  • automatic generation of different plans of sequencing operations realizing a given technological task (operations scheduling problem)

  • synthesis of programs for robots servicing the devices

  • planning and interpretation of robots' motion programs

  • synthesis of autonomous robotic system's simulation models

  • testing and verification of effectiveness of program execution based on the interpreted programs of robots' actions and simulation modeling of the overall system architecture

The integration of all the above features is a complex task, with each of the functions being a research topic in itself. Most existing planning systems facilitate only one mode of operation, i.e., the off-line input of robot's program and subsequent testing of the program by graphic animation of robot's motions in a geometric model of the work-scene. The systems are capable of detecting collisions. However, they cannot plan collision free motion. They do not facilitate simulation of a workcell in order to evaluate its efficiency. They cannot emulate a programming language that would actively use a simulation model. Such languages do not exist yet. Our future work will focus on the automatic generation of such a language.

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Author information

Authors and Affiliations

  1. Institute of Technical Cybernetics, Technical University of Wrocław, 50-370, Wrocław, Poland

    Witold Jacak

  2. Dept. of Electrical and Computer Engineering, The University of Arizona, 85721, Tucson, Arizona, USA

    Jerzy W. Rozenblit

Authors
  1. Witold Jacak
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  2. Jerzy W. Rozenblit
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Editor information

Franz Pichler Roberto Moreno Díaz

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© 1992 Springer-Verlag Berlin Heidelberg

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Jacak, W., Rozenblit, J.W. (1992). Automatic robot programming by CAST. In: Pichler, F., Díaz, R.M. (eds) Computer Aided Systems Theory — EUROCAST '91. EUROCAST 1991. Lecture Notes in Computer Science, vol 585. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0021050

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  • DOI: https://doi.org/10.1007/BFb0021050

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-55354-0

  • Online ISBN: 978-3-540-47034-2

  • eBook Packages: Springer Book Archive

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