Modeling a knowledge base for generating new trajectories for a robot arm located in a cell of a flexible fabrication line

摘要

In this paper, we propose a method for adding new items to an existing knowledge base, considering the information already collected via a human machine interface. The system can be used for acquiring the data, monitoring the fabrication cells and in the knowledge acquisition process. The knowledge base is an essential part, used in the monitoring and control of the robot in the fabrication cell. An essential problem is programming the robot in a way that this can act in any situation it meets in the fabrication cell. Using the vision system the robot can perceive its external environment, it offers the robot hints about the path it has to follow. The goal is to provide the robot enough knowledge so that it can act independently, without human intervention.