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A Knowledge-Based Approach to Modelling of Robotic Assembly Cells

Published online by Cambridge University Press:  09 March 2009

Dae-Won Kim ,
Bum-Hee Lee  and
Myoung-Sam Ko
Dae-Won Kim
Affiliation:
Robotics and Intelligent Systems Laboratory, Department of Control and Instrumentation Engineering, Seoul National University, Seoul 151–742 (Korea)
Bum-Hee Lee
Affiliation:
Robotics and Intelligent Systems Laboratory, Department of Control and Instrumentation Engineering, Seoul National University, Seoul 151–742 (Korea)
Myoung-Sam Ko
Affiliation:
Robotics and Intelligent Systems Laboratory, Department of Control and Instrumentation Engineering, Seoul National University, Seoul 151–742 (Korea)
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Summary

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the System structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

Keywords

ModellingAssembly cellsRoboticsKnowledge-baseState transition
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 31 - 42
Copyright
Copyright © Cambridge University Press 1991

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