Towards a Domain Specific Language for Sensor-Based Actions

摘要

Actual robot systems are typically used within an industrial environment, where they perform tasks in the areas of manufacturing, assembly, or inspection. Many of these tasks require the definition and execution of sensor-based motions. Such motions are typically defined using a subsymbolic representation like manipulation primitive nets [1] or iTaSC [2]. These representations are only suitable for experts in the domain of robotics because they require the definition of low-level parameters like setpoints, control strategies, or task frames. Since the application domains of robot systems shall be extended to SMEs or private households, existing representations lack in an intuitive interface for users without expert knowledge in the area of robotics. In this work, we describe an intuitive interface for the definition of sensor-based actions. Our approach is based on manipulation primitive nets and consists of a transformation between the subsymbolic manipulation primitive nets and a symbolic user interface, described by a domain specific language.