Design of a knowledge-based generic control protocol generator for automatic assembly operations

摘要

Abstract The problem of designing the control structure of robotic workstations is typically solved by ad hoc means The Generic Control Protocol Generator (GCPG)constitutes a step toward the development of a more general procedure. The GCPG is a state-space problem-solving hierarchical planner, which decomposes English-like high-level operational assembly commands into a set of programming instructions called the Control Protocol. The efficiency of the GCPG reJies on its way of manipulating knowledge. The intrinsic knowledge of the assembly world is utilized to design a decentralized knowledge manipulation mechanism that controls the operations of the system.