Applying Simulation and a Domain-Specific Language for an Adaptive Action Library

In this paper, we present the status of ongoing research aimed at tackling the issues of programming robots for small-size productions where fast set-up times, quick changeovers and easy adjustments are essential. We use a probabilistic approach where uncertainties are taken into account, making the deterministic requirements of an assembly process less strict. Concretely, actions from an action library are modelled through parameters, simulation is used to facilitate learning of uncertainty-tolerant actions, and a Domain-Specific Language (DSL) is used to convert the abstractly specified actions into corresponding executable actions. The approach is tested on an application example from industry.