Software architecture and design of task deduction and task planning components for a multiple robot simulation system.

摘要

Visual simulations of industrial processes (e.g. welding, assembling etc.) involving multiple robots, are part of the overall design process for such systems. A 3D simulation and visualization software tool has been developed named MRS, for Multiple Robot Simulation system. Experiences in this area of industrial robotic applications have shown that there is a great concern about operability and supervision efforts. The goal is to give user confidence in operating such a system in an intuitive manner. In order to reach that, a Virtual Reality (VR) interface is integrated in the existing MRS. In addition, user must be provided with convincing information concerning the conduct of the tasks to be performed. Moreover, the system must demonstrate a certain degree of autonomy regarding the planning of these tasks. In this thesis, we present a software architecture for two components that we believe satisfy these functional requirements that are posed by the specific robotic system. (Abstract shortened by UMI.)