Object Oriented Approach For Task Level Robot Programming

摘要

In this paper, it is shown that it becomes easy to translate a natural language style task instruction into the motion level robot program by utilizing the procedures which a human being has as image of the assembly parts. In this research the concept of the object oriented programming is used as the knowledge representation form. The operational procedures of the assembly parts and other attributes are constructed by the object oriented model. The translation into the robot program is executed by using the message passing facility of objects. In this translation process, the task procedure, such that a bolt is tightened after a washer is placed on, is required. So, the object, in which the task procedure is described, is prepared particularly to the parts objects in order to raise the modularity of the object and link easily with the task planning system in future.