Toward Automated Programming for Robotic Assembly Using ChatGPT
Abstract: Despite significant technological advancements, the process of programming robots for adaptive assembly remains labor-intensive, demanding expertise in multiple domains and often resulting in task-specific, inflexible code. This work explores the potential of LLMs, like ChatGPT, to automate this process, leveraging their ability to understand natural language instructions, generalize examples to new tasks, and write code. In this paper, we suggest how these abilities can be harnessed and applied to real-world challenges in the manufacturing industry. We present a novel system that uses ChatGPT to automate the process of programming robots for adaptive assembly by decomposing complex tasks into simpler subtasks, generating robot control code, executing the code in a simulated workcell, and debugging syntax and control errors, such as collisions. We outline the architecture of this system and strategies for task decomposition and code generation. Finally, we demonstrate how our system can autonomously program robots for various assembly tasks in a real-world project.
- OpenAI, “GPT-4 Technical Report”, arXiv preprint arXiv:2303.08774, 2023.
- A. Thoma, A. Adel, M. Helmreich, T. Wehrle, F. Gramazio, and M. Kohler, “Robotic fabrication of bespoke timber frame modules,” Robotic Fabrication in Architecture, Art and Design 2018, pp. 447–458, 2018.
- A. Gandia, S. Parascho, R. Rust, G. Casas, F. Gramazio, and M. Kohler, “Towards automatic path planning for robotically assembled spatial structures,” Robotic Fabrication in Architecture, Art and Design 2018, pp. 59–73, 2018.
- N. King, N. Melenbrink, N. Cote, and G. Fagerström, “Build-ing the mass lo-Fab Pavilion,” Robotic Fabrication in Architecture, Art and Design 2016, pp. 362–373, 2016.
- D. Pigram, I. Maxwell, and W. McGee, “Towards real-time adaptive fabrication-aware form finding in architecture,” Robotic Fabrication in Architecture, Art and Design 2016, pp. 426–437, 2016.
- M. Bechthold and N. King, “Design robotics,” Rob — Arch 2012, pp. 118–130, 2013.
- P. Eversmann, F. Gramazio, and M. Kohler, “Robotic prefabrication of timber structures: Towards automated large-scale spatial assembly,” Construction Robotics, vol. 1, no. 1–4, pp. 49–60, 2017.
- S. Vemprala, R. Bonatti, A. Bucker, and A. Kapoor, “Chatgpt for robotics: Design principles and model abilities,” arXiv preprint arXiv:2306.17582, 2023.
- P. Meltzer, J. G. Lambourne, and D. Grandi, “What’s in a Name? Evaluating Assembly-Part Semantic Knowledge in Language Models through User-Provided Names in CAD Files,” arXiv preprint arXiv:2304.14275, 2023.
Paper Prompts
Sign up for free to create and run prompts on this paper using GPT-5.
Top Community Prompts
Collections
Sign up for free to add this paper to one or more collections.