From high-level task descriptions to executable robot code

Abstract

For robots to be productive co-workers in the manufacturing industry, it is necessary that their human colleagues can interact with them and instruct them in a simple manner. The goal of our research is to lower the threshold for humans to instruct manipulation tasks, especially sensor-controlled assembly. In our previous work we have presented tools for high-level task instruction, while in this paper we present how these symbolic descriptions of object manipulation are translated into executable code for our hybrid industrial robot controllers.