Automatic Error Recovery in Robot Assembly Operations Using Reverse Execution

Johan Sund Laursen, Ulrik Pagh Schultz, Lars-Peter Ellekilde

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Robotic assembly tasks are in general difficult to program and require a high degree of precision. As the complexity of the task increases it becomes increasingly unlikely that tasks can always be executed without errors. Preventing errors beyond a certain point is economically infeasible, in particular for small-batch productions. As an alternative, we propose a system for automatically handling certain classes of errors instead of preventing them. Specifically, we show that many operations can be automatically reversed. Errors can be handled through automatic reverse execution of the control program to a safe point, from which forward execution can be resumed. This paper describes the principles behind automatic reversal of robotic assembly operations, and experimentally demonstrates the use of a domain-specific language that supports automatic error handling through reverse execution. Our contribution represents the first experimental demonstration of reversible computing principles applied to industrial robotics.
Original languageEnglish
Title of host publicationProceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication date29. Sep 2015
Pages1785-1792
DOIs
Publication statusPublished - 29. Sep 2015
Event2015 IEEE/RSJ International Conference on Intelligent Robots and Systems - Hamburg, Germany
Duration: 28. Sep 20152. Oct 2015

Conference

Conference2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryGermany
CityHamburg
Period28/09/201502/10/2015

Fingerprint

Dive into the research topics of 'Automatic Error Recovery in Robot Assembly Operations Using Reverse Execution'. Together they form a unique fingerprint.

Cite this