elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources

Schäfer, Philipp Matthias and Steinmetz, Franz and Schneyer, Stefan and Bachmann, Timo and Eiband, Thomas and Lay, Florian Samuel and Padalkar, Abhishek and Sürig, Christoph and Stulp, Freek and Nottensteiner, Korbinian (2021) Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources. In: 18th International Conference on Principles of Knowledge Representation and Reasoning, KR 2021, pp. 702-706. International Joint Conferences on Artificial Intelligence Organization. 18th International Conference on Principles of Knowledge Representation and Reasoning, 3.-12. Nov. 2021, Online. doi: 10.24963/kr.2021/73. ISBN 978-195679299-7. ISSN 2334-1033.

[img] PDF
2MB

Official URL: https://doi.org/10.24963/kr.2021/73

Abstract

Technology has sufficiently matured to enable, in principle, flexible and autonomous robotic assembly systems. However, in practice, it requires making all the relevant (implicit) knowledge that system engineers and workers have – about products to be assembled, tasks to be performed, as well as robots and their skills – available to the system explicitly. Only then can the planning and execution components of a robotic assembly pipeline communicate with each other in the same language and solve tasks autonomously without human intervention. This is why we have developed the Factory of the Future (FoF) ontology. At its core, this ontology models the tasks that are necessary to assemble a product and the robotic skills that can be employed to complete said tasks. The FoF ontology is based on existing standards. We started with theoretical considerations and iteratively adapted it based on practical experience gained from incorporating more and more components required for automated planning and assembly. Furthermore, we propose tools to extend the ontology for specific scenarios with knowledge about parts, robots, tools, and skills from various sources. The resulting scenario ontology serves us as world model for the robotic systems and other components of the assembly process. A central runtime interface to this world model provides fast and easy access to the knowledge during execution. In this work, we also show the integration of a graphical user front-end, an assembly planner, a workspace reconfigurator, and more components of the assembly pipeline that all communicate with the help of the FoF ontology. Overall, our integration of the FoF ontology with the other components of a robotic assembly pipeline shows that using an ontology is a practical method to establish a common language and understanding between the involved components.

Item URL in elib:https://elib.dlr.de/144979/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schäfer, Philipp MatthiasP.Schaefer (at) dlr.dehttps://orcid.org/0000-0003-3931-6670
Steinmetz, FranzFranz.Steinmetz (at) dlr.dehttps://orcid.org/0000-0002-1481-9215
Schneyer, StefanStefan.Schneyer (at) dlr.deUNSPECIFIED
Bachmann, TimoTimo.Bachmann (at) dlr.deUNSPECIFIED
Eiband, ThomasThomas.Eiband (at) dlr.dehttps://orcid.org/0000-0002-1074-9504
Lay, Florian SamuelFlorian.Lay (at) dlr.dehttps://orcid.org/0000-0002-5706-3278
Padalkar, AbhishekAbhishek.Padalkar (at) dlr.deUNSPECIFIED
Sürig, ChristophChristoph.Suerig (at) dlr.deUNSPECIFIED
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.dehttps://orcid.org/0000-0002-6016-6235
Date:2021
Journal or Publication Title:18th International Conference on Principles of Knowledge Representation and Reasoning, KR 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.24963/kr.2021/73
Page Range:pp. 702-706
Editors:
EditorsEmailEditor's ORCID iD
Bienvenu, Meghynmeghyn.bienvenu@labri.frUNSPECIFIED
Lakemeyer, Gerhardgerhard@informatik.rwth-aachen.deUNSPECIFIED
Erdem, Esraesraerdem@sabanciuniv.eduUNSPECIFIED
Publisher:International Joint Conferences on Artificial Intelligence Organization
ISSN:2334-1033
ISBN:978-195679299-7
Status:Published
Keywords:Integrating reasoning about actions and control Multi-robot planning and coordination
Event Title:18th International Conference on Principles of Knowledge Representation and Reasoning
Event Location:Online
Event Type:international Conference
Event Dates:3.-12. Nov. 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Project Factory of the Future
Location: Jena , Oberpfaffenhofen
Institutes and Institutions:Institute of Data Science
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Schäfer, Philipp Matthias
Deposited On:28 Oct 2021 15:52
Last Modified:25 Apr 2022 10:59

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.