Knowledge representation for image based robot operation

摘要

A knowledge-representation method is proposed for understanding operator messages to generate motion in a robot mechanism. With this method, a generation process which activates a set of rewrite rules, translates the operator's message to a sequence of symbolic motion modules called motion schema. Further, an instantiation process of the motion schema, which binds schemata with geometric data stored in the work-space model, generates instant motion. Through an experimental study using a prototype system, certain aspects of the method were verified.