Knowledge Representation and Integration of Robot Assembly Applications

  • S. Schneider
Conference paper
Part of the NATO ASI Series book series (volume 53)

Abstract

The knowledge representation and the design of data models are influenced by the various applications which are operating on these representation schemes. For the activities of design, planning, programming and simulation the same robot objects are referenced but different knowledge representations are used.

The requirements of automatic assembly planning, graphic supported offline programming, computer aided design and sensor integration for the representation of knowledge will be discussed in this paper. The results of this work will support the integration of complex systems like the KAMRO (Karlsruhe Autonomous Mobile Robot) into a CIM environment. The relevant objects of this research area are robots, parts, cell layouts, control programs etc. which are represented on various layers of abstraction with different data representations. This different data representations result from the special needs of the invidual activities. The merging of all separate activities into an integrated production systems working on common knowledge bases is necessary. For this purpose different knowledge representations like neutral CAD formats, various databases and Al tools have to be integrated. An object oriented representation of the most important objects is proposed as an approach to an integrated production system, because a homogen representation of all the specific knowledge lead to a inefficient data management effort. The management of the large data objects should be done by conventional means like databases or file management systems.

Keywords

Assure Encapsulation Suffix 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [ANSI78]
    ANSI/X3/SPARC: The ANSI/X3/SPARC DBMS Framework Report of the Study Group on Databases Management Systems, Information Systems, Vol. 3 (1978), pp. 173 191CrossRefGoogle Scholar
  2. [BEY86]
    Bey I.; Leuridan J.; Schlechtendahl E.G. Specification of a CAD*I Neutral File for Solids Version 2.1 edited by E.G. Schlechtendahl Springer-Verlag 1986Google Scholar
  3. [CODD81]
    Codd E.F.; The Capabilities of Relational Database Management Systems IBM Research Report RJ3132, San Jose, Cal. (1981)Google Scholar
  4. [DILL86]
    Dillmann,R.;Hornung,B.;Huck,M.; Interactive Programming of Robots Using Textual Programming and Simulation Techniques Proc.l6th ISIR, Bruselles, October 1986Google Scholar
  5. [EBER84]
    Eberlein W.; CAD-Datenbanksysteme; Springer Verlag 1984MATHCrossRefGoogle Scholar
  6. [HAYES]
    Hayes P.J.; The Logic of Frames Readings in Knowledge Representation edited by R.J. Brachman pp.287–295Google Scholar
  7. [HORN86]
    Hornung,B.;Huck,M.; Ein benutzerorientiertes Verfahren zur Erstellung von Roboterberwegungsprogrammen mit graphischer Visualisierung VDI-Bericht 598, Tagung in Langen, May 1986Google Scholar
  8. [MINS75]
    Minsky M.; A Framework Representing Knowledge The Psychology of Computer Vision, P. H. Winston ed. McGraw-Hill New York, 1975 pp 211–277Google Scholar
  9. [NAU83]
    Nau Dana S.; Expert Computer Systems COMPUTER Feb. 1988 pp.63–85Google Scholar
  10. [NILS80]
    Nilsson N. J.; Principles of Artificial Intelligence, Tioga, Palo Alto, Calif. 1980Google Scholar
  11. [SOET87]
    Soetadji T.; Fortschrittsberichte VDI Methode zum Lösen des Routenplannungsproblems für ein Navigationssystem eines autonomen mobilen Roboters Reihe 10: Informatik/ Kommunikationstechnik Nr. 70 VDI VerlagGoogle Scholar
  12. [WEDE81]
    Wedekind H.; Datenbanksysteme I; Wissensschaftverlag, 2. Auflage (1981)Google Scholar
  13. [WINS77]
    Winston P.H.; Artifical Intelligence, Addison-Wesley Reading, Mass., 1977Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • S. Schneider
    • 1
  1. 1.Institut für Prozeßrechentechnik und Robotik (IPR)University of KarlsruheGermany

Personalised recommendations