Integração de uma Estrutura Deliberativa para um Manipulador Robótico Inteligente

Guilherme I. S. Alves; Luiz F. Pugliese; Diogo L. F. da Silva; Giovani B. Vitor

doi:10.20906/sbai.v1i1.2596

Guilherme I. S. Alves Universidade Federal de Itajubá - Campus de Itabira, Itabira, Minas Gerais
Luiz F. Pugliese Universidade Federal de Itajubá - Campus de Itabira, Itabira, Minas Gerais
Diogo L. F. da Silva Universidade Federal de Itajubá - Campus de Itabira, Itabira, Minas Gerais
Giovani B. Vitor Universidade Federal de Itajubá - Campus de Itabira, Itabira, Minas Gerais

DOI: https://doi.org/10.20906/sbai.v1i1.2596

Keywords: Robotic manipulator, Deliberative architecture, Intelligent planning, Computer vision

Abstract

This work portrays the definition and integration of an architecture of a robotic manipulator, whose function is to organize, in an autonomous way, cubic blocks arranged on a bench. The structure is defined according to a deliberative approach that is based on SPA modeling (Sense-Plan-Act). The implementation is carried out by integrating the techniques of intelligent planning, computer vision and control of the robotic manipulator. The block organizing agent consists of the integration between a vertical articulated robotic manipulator equipped with a claw as a terminal organ, a microcontroller and a video camera representing the agent's sensor. MATLAB software will be used to integrate the different modules of the system. Intelligent planning will be performed by the Black Box planner who is responsible for defining the actions that must be taken during the execution of the manipulator.