Error Recovery in Intelligent Robotic Workcells

R. D. Borchelt, University of Wisconsin - Milwaukee
Sema E. Alptekin, University of Missouri - Rolla

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DOI: http://dx.doi.org/10.1080/00207549408956916. International Journal of Production Research is available online at http://www.informaworld.com.

NOTE: At the time of publication, the author Sema Alptekin was affiliated with the University of Missouri - Rolla. Currently, August 2008, she is Professor of Industrial & Manufacturing Engineering and Director of the University Honors Program at California Polytechnic State University - San Luis Obispo .

Abstract

This paper focuses on the requirements for achieving automated diagnosis and error recovery in a robotic assembly cell. Untended robust operation is the goal which is discussed, and the use of a knowledge-base oriented diagnostic/control system to support on-line error recovery is advocated. It is proposed that error recovery attempts should be made, not only based on information gathered by system sensors, but also by using additional cell-specific knowledge pertaining to recovery strategies. Recovery attempts are to be made even in the absence of complete diagnosis, in order to gather additional information. A control structure developed to implement this approach is presented.