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Translation of task-level instructions to sensing/actuation skills by a robotic assembling agent

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2 Author(s)
J. S. Basran ; Dept. of Electr. & Comput. Eng., Ottawa Univ., Ont., Canada ; E. M. Petriu

This paper describes a robotic assembling agent that translates task-level, assembly operation, instructions into a sequence of executable skills. We adopt the concept of an agent from the field of multi-agent systems and the concept of a task-level instruction from the field of robot programming. A skill is a parameterized, sensing and/or actuation, action that a robot can accomplish repeatably. We present our approach to this translation problem within the larger context of an agent-based robotic assembly cell (AGRA) and in relation to the proof of concept implementation of an actual, robotic assembling agent. In particular, we discuss the translation of a basic peg in hole, task-level instruction that uses a range sensor and a force/torque sensor into a sequence of skills

Published in:

Instrumentation and Measurement Technology Conference, 1997. IMTC/97. Proceedings. Sensing, Processing, Networking., IEEE  (Volume:1 )

Date of Conference:

19-21 May 1997