Towards Error Handling in a DSL for Robot Assembly Tasks

TL;DR

This paper introduces an extension to a domain-specific language for robot assembly that incorporates error handling and probabilistic approaches to improve programming efficiency and robustness in small-batch production.

Contribution

It presents an initial design and implementation of error specification and handling features in a DSL for robot assembly tasks, enhancing flexibility and error tolerance.

Findings

Extended DSL supports error specification and handling.

Framework incorporates probabilistic methods for uncertainty management.

Initial implementation demonstrates potential for improved assembly programming.

Abstract

This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the likelihood of errors, and these errors need to be addressed. Nevertheless, it is essential that programming and setting up the assembly remains fast, allows quick changeovers, easy adjustments and reconfigurations. In this paper we present an initial design and implementation of extending an existing DSL for assembly operations with error specification, error handling and advanced move commands incorporating error tolerance. The DSL is used as part of a framework that aims at tackling uncertainties through a probabilistic approach.