Rule-based extension through IoT for a robotized application

Abstract

This paper presents a rule-based method to solve a collision issue for a manipulator robot. The proposed approach applies a set of rules on the information received from a visual system to find the dependency between parts. It uses the notion of intersection of segments and graph dependency to find which object is safe for gripping and in which order. The communication among robot, visual system, and the developed module is obtained through an IoT system extension. The applicability of the proposed method is validated by the means of a real manufacturing system.