Planning Automatic Assembly for Robots (PAAR)

Abstract

This paper describes a system to interface a robot task programmer with a robot control language through an interactive CAD graphics system. A world model with the solid description and properties of each one of the parts of an object to be assembled, is built from a solid modeler database and from assembly information added during the design phase. The| system provides the front-end needed by the user to modify, through a graphics display, the world model and to keep track of events in it. A simplified rule based system for robot programming, embedded in PAAR, uses this world model as a knowledge base, and outputs the program source code written in ‘C’ language with calls to robot control functions (Robot Control C Library, RCCL). Sensing integration can be easily added to perform error correction during the real-time execution of the task. The output program, after being compiled, is directly executable by the robot controller.