Simulation Based Implementation of Flexible Task Oriented Robot Controls Using the System Entity Structure and Model Base Approach

Thorsten Pawletta¹, Tobias Schwatinski¹, Sven Pawletta¹

¹Hochschule Wismar, Philipp-Müller-Str., 23966 Wismar

The paper introduces a new method used for the development of Flexible Task
oriented robot Controls (FTC) using the System Entity Structure (SES). Task oriented
robot controls are based on the composition of atomic tasks with the aim of achieving a
previously specified goal. Flexible task oriented controls differ in that the composition of
atomic tasks is not predefined fixedly but is composed during the operation of the control
on basis of actual process states and with respect to any constraints according to the
sequence of tasks. The System Entity Structure is an ontology, which can be used for the
hierarchical representation of existing or imagined systems. It is shown how to
automatically generate and execute FTCs for cooperating robots specified by a SES and
an associated model base (MB).