The Use of Logic Programming in Task Planning for Robotized Systems

摘要

Preparing the task for the robotic system takes several steps. Programming a robot, as the last step, is preceded by the analysis of possible variants of its implementation and trajectory planning. However, it is needed to recognize the task and to split it into parts, without the reference how to realize them. The modern robotics seeks the way to shorten the time of program preparation, developing the so-called "programming at the task level." It consists in writing a program in a language, which is similar to natural one, describing only the basic operations, without going into the details of their realization by the robot. The outcomes of the researches are, for example the special voice interfaces used in robotized surgery. In case of industrial robots, this method is treated as the experimental one and the interest is confined to purely scientific. This article discusses some aspects of this method with respect to the initial stages of the task planning. A description of the robot's workspace and defining the basic steps in a language which is similar to natural one, allows the use of logic programming language to generate pseudocode, which eventually leads to the realization of the task. Every activity could be then divided into elementary steps that must be described directly in the robot programming language. The presented method is currently at the early stage of development and does not allow the direct programming of the robot, but the generated pseudocode could be the basis of a complete program.