Conceptual Graph-Based System For Assembly Program Synthesis

Research output: Contribution to journalArticlepeer-review

Abstract

ISRA is a support system for robot programming. It provides a means to automatically (guided by knowledge) convert a user's request, expressed in the natural language, into the appropriate conceptual model of the required task. This model incorporates information required for the understanding, planning and sensory-guided performance of the required robotic task. To develop this system we applied the Natural Computation method. We considered natural information processing by humans during synthesis and interpretation of robotic programs, and then constructed an approximate conceptual model of the relevant dynamically changing real world. Such a model has to be suitable (e.g. representable and executable) for efficient computer processing. This paper presents the results of a case study which shows that methods built by formalizing human information processing in the robotic domain may be efficiently and naturally implemented in ISRA. It provides evidence that the structure and behavior of ISRA's competence representation and algorithm are comparable with the psychological behavior of humans, as required by the Natural Computation method. The case study illustrates the use of ISRA for the first phase of an assembly program synthesis i.e. planning of all valid assembly sequences.

Original languageEnglish
Pages (from-to)329-338
Number of pages10
JournalRobotica
Volume10
Issue number4
DOIs
StatePublished - Jul 1992

Keywords

  • ISRA
  • Information
  • Robot programming
  • processing

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