A new framework for task oriented sensor based robot programming and verification

Abstract

We evaluate the usage of skill primitive nets for programming robots, which support hybrid control in a uniform way. This notation gives an easy and intuitive way to switch between position, velocity, and force control for each DOF independently as long as no inherent dependencies are affected. Robot specific restrictions within the work space are an intrinsic problem of the approach to a portable programming interface. We deal with this problem by using the model checker HyTech to analyze a robot program consisting of skill primitives. This analysis verifies nets of skill primitives under consideration of these restrictions.