Towards Error Handling in a DSL for Robot Assembly Tasks

Johan S. Laursen, Jacob P. Buch, Lars C. Sørensen, Dirk Kraft, Henrik Gordon Petersen, Lars-Peter Ellekilde, Ulrik P. Schultz

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the likelihood of errors, and these errors need to be addressed. Nevertheless, it is essential that programming and setting up the assembly remains fast, allows quick changeovers, easy adjustments and reconfigurations. In this paper we present an initial design and implementation of extending an existing DSL for assembly operations with error specification, error handling and advanced move commands incorporating error tolerance. The DSL is used as part of a framework that aims at tackling uncertainties through a probabilistic approach.
Original languageEnglish
Publication date2014
Number of pages5
Publication statusPublished - 2014
EventFifth International Workshop on Domain-Specific Languages and Models for Robotic Systems - Bergamo, Italy
Duration: 20. Oct 2014 → …

Conference

ConferenceFifth International Workshop on Domain-Specific Languages and Models for Robotic Systems
Country/TerritoryItaly
CityBergamo
Period20/10/2014 → …

Bibliographical note

Presented at DSLRob 2014 (arXiv:cs/1411.7148)

Keywords

  • cs.RO

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