Semantic Mates: Intuitive Geometric Constraints for Efficient Assembly Specifications

Abstract

In this paper, we enhance our knowledge-based and constraint-based approach of robot programming with the concept of Semantic Mates. They describe intended mechanical connections between parts of an assembly. This allows deriving appropriate assembly poses from the type of connection and the geometric properties of the involved parts. The paper presents an ontology-based representation of Semantic Mates that is used to augment object models with additional information regarding their potential use in an assembly. Such semantically annotated object models can be used in our instruction framework to program a robot to perform assembly tasks through simple drag-and-drop operations in a graphical user interface. We conducted a user study with 21 participants in order to evaluate the efficiency and usability of the Semantic Mates concept based on a use-case from the domain of mechanical assembly. Across different experience levels in robotics, the participants achieved a significantly faster workflow and improved perceived usability compared to the manual specification of constraint-based assembly operations.

Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources

“…In particular, we chose a comparable approach in the representation of skills and expanded up on it. (Wildgrube et al 2019) presents a semantic model for connections between objects through so called semantic mates, similar to FoF ontology's connectable elements in the connection component. (Perzylo et al 2015) presents, similar to this paper, the use of ontologies for semantic representation of much of the robotic process and its environment (ubiquitous semantics).…”

SQRP: Sensing Quality-aware Robot Programming System for Non-expert Programmers

“…Skill-based programming has been widely studied in robotic systems because it facilitates reusability [12], [13]. Programmers are often given flexibility to choose different skills and parameters based on their preferences [14], [15]. However, most of the extant works do not pay attention to the impact on the effectiveness of the skill monitoring modules when different skill parameters are admissible.…”

Digital twin of ABB IRB-120 robotic cell based on the industry 4.0

“…5 Among other benefits, it promotes a more efficient treatment of the complexity associated with assembly systems, capable of causing a reduction in the acceleration time of the system itself and a reduction in the development time of the product capable of meeting the market's competitiveness. 6 By its general definition, a digital twin is a real-time virtual digital representation that mimics a physical object or process. Industries such as the aerospace and defense industry have been developing strategies to implement such solutions for years.…”