A Robot Planner In the Assembly Domain

Abstract

THIS PAPER DESCRIBES A SENSOR-BASED ROBOT PLANNER FOR THE ASSEMBLY DO- MAIN. THE REPRESENTATION AND CONTROL STRUCTURE OF THE PLANNER ARE DIS- CUSSED IN DETAIL. MOLGEN''S HIERARCHICAL PLANNING APPROACH AND LEAST COM- MITMENT STRATEGY ARE ADAPTED. REPRESENTATION FOR EACH OBJECT IS IMPLEMENT- ED AS A HIERARCHICAL GRAPH WITH FEATURES AS NODES AND RELATIONSHIPS BETWEEN FEATURES AS ARCS. FORMATION AND PROPAGATION OF THE CONSTRAINTS ARE DIS- CUSSED IN TERMS OF RELATIONSHIPS AMONG FEATURES.