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首页> 外文会议>IEEE International Conference on Emerging Technologies and Factory Automation >Simplifying synchronization in cooperative robot tasks - an enhancement of the Manipulation Primitive paradigm
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Simplifying synchronization in cooperative robot tasks - an enhancement of the Manipulation Primitive paradigm

机译：简化协作机器人任务中的同步-操纵原始范式的增强

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摘要

Complex handling and assembly tasks can be gradually decomposed into simpler sub-tasks until a level of elementary 'primitive' tasks is reached, which can be expressed generically by so-called Manipulation Primitives. Manipulation Primitives can hence be utilized as the foundation of a unified paradigm to specify and execute complex sensor-based robot tasks. By embedding these Manipulation Primitives into a fully hierarchical structure, the specification and reuse of common sub-tasks can be simplified immediately. However, without appropriate synchronization mechanisms the user-friendly and effective specification of tasks for multi-robot systems based on Manipulation Primitives still remains an issue. The underlying place-transition net formalism allows for synchronization by including the notions of forks and joins into the net but this approach is neither user-friendly nor does it allow for immediate support of more sophisticated synchronization mechanisms such as range synchronization. To eliminate this drawback of the Manipulation Primitive Concept, this contribution proposes powerful but at the same time easy-to-use synchronization primitives and introduces a revised Manipulation Primitive paradigm, which takes full advantage of the developed primitives. The advantages of the proposed concepts regarding the specification of tasks for industrial multi-robot systems are illustrated with several examples.
机译：复杂的处理和组装任务可以逐渐分解为更简单的子任务，直到达到基本的“原始”任务水平为止，这可以通过所谓的“操纵原始体”概括地表达出来。因此，操纵基元可以用作统一范式的基础，以指定并执行基于传感器的复杂机器人任务。通过将这些操作基元嵌入到完全的层次结构中，可以立即简化常见子任务的规范和重用。但是，如果没有适当的同步机制，基于操纵基元的多机器人系统的用户友好和有效的任务说明仍然是一个问题。底层的位置转换网络形式主义通过包含派生和加入网络的概念来允许同步，但是这种方法既不方便用户使用，也不能立即支持更复杂的同步机制，例如范围同步。为了消除“操纵原始体”概念的这一缺点，此贡献提出了功能强大但同时易于使用的同步原语，并引入了一个修订版的“操纵原始体”范例，该范例充分利用了已开发的原语。通过几个示例说明了所提出的概念在工业多机器人系统任务规范方面的优势。

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