Towards a Cooperating Robots Demonstrator

Abstract

and automation for robot scenarios and areas like CIM. This led us to set up a database for scenario construction, cf. [DPSS91], which we used to compose robotics scenarios of industrial relevance that we tried to model MEDLAR II Deliverable V.2 2 with our methods. In [Pfa95] the interplay of AI and symbolic mathematical computation and traditional mathematics was discussed on the basis of some selected aspects from geometric, topological and logical reasoning in the classical AI field of robotics. It considered the kinematics model of a robot arm in detail and applied methods from symbolic computation to inverse kinematics and singularity problems. It showed how methods from classical geometry and topology can give support to work on typical robotics questions like the existence of singular configurations. Finally, it contained a sketch of a novel approach for logical modeling in robotics based on so-called logical fiberings. After trying out a small test example w