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Task-level programming of a robotic system using high level logic language

Foit K.

Selected Engineering Problems

2015

nr 6

21--26

The planning of robotics task is the main problem during the creation of the code for robot’s controller. In the initial phase of task designing, the program should be described on low level of details i.e. only the main actions should be concerned. This is so-called task-level approach and the program could be shown in the form of pseudo code, which is not standardised form of programming language. The analysis of the available literature points out that the formalised pseudocode could be successfully used for future processing in the field of mobile robotic, while the application in the field of stationary robotics is in early stage of development. However some task requires detailed analysis before creating the plan of program, because of complex task conditions. In such cases the operator could use the logic programming language, like Prolog, to solve the problem.

Introduction to solving task-level programming problems in logic programming language

Foit K.

Journal of Achievements in Materials and Manufacturing Engineering

2014

Vol. 64, nr 2

78--84

Purpose: This paper illustrates one of the possibilities of using logic programming language to process task-level description of robot’s program. The goal of such programming method is to achieve almost the same abstract level in human-machine communication as in human-to-human communication. Design/methodology/approach: The task-level programming is very different from trajectory planning, although some algorithms from this field are used in subsequent stage of detailing of the program. At a higher level we only define the proper sequence of actions. This could be also done using logic processing languages (e.g. Prolog). Findings: The approach shown in the paper allows to solve manipulation tasks at high level (the sequence of actions), but does not cover all the problems connected with manipulator movements like avoiding collisions or detailed description of the motion. Practical implications: Due being immature, the mentioned method is not applicable in real world, but could be used as a base of further research. Originality/value: Task-level programming and problem solving is a very current field of research and experiments in robotics. It is also in very early stage, so most of methods have only scientific mean, without wide application in the industry.