研究成果 / 2026 / 会议论文 · 预印本
Retrieval-grounded robot program generation and simulation-based correction via Model Context Protocol
检索增强机器人程序生成与基于模型上下文协议的仿真纠错
arXiv:2608.21417 · Accepted for CIE53 2026 · 2026
CIE53 2026 已录用，并在阿布扎比报告。此处链接为 arXiv 预印本版本。
摘要
原始英文摘要
Flexible manufacturing requires industrial robots to be reprogrammed rapidly as product variants change. This paper presents a language-model-based workflow that generates, validates, and iteratively corrects ABB RAPID robot programs from natural language task descriptions. A dual-stream retrieval-augmented generation (RAG) pipeline grounds code generation in verified technical documentation and production templates, reducing domain-specific errors produced by ungrounded language models. A custom Model Context Protocol (MCP) server connects the language-model client directly to ABB RobotStudio for automated code upload, simulation execution, and diagnostic feedback. The evaluation combines a 30-query retrieval benchmark, scoped code-generation checks, and RobotStudio case studies in a simulated pickand- place manufacturing cell. The simulation loop exposes execution failures that static and semantic checks alone cannot catch, including suction release-height errors, unreachable placement targets, and configuration-dependent recovery motions. The results show how RAG and MCP can connect grounded code generation with executable feedback from industrial robot simulation software, while reducing but not eliminating expert setup and final supervision.
原始来源: arXiv ↗
这项研究在做什么
本文通过 MCP，将检索增强的 ABB RAPID 代码生成连接到 RobotStudio。仿真反馈能发现静态代码检查遗漏的执行错误，并支持迭代纠错。
研究要点
- 通过双路 RAG，将代码生成建立在已验证的技术文档与生产模板之上。
- 通过 MCP 服务器完成 RobotStudio 代码上传、仿真执行与诊断反馈。
- 识别静态检查无法发现的执行错误；仍需要专家配置与最终监督。
引用这项成果
Zhichao Zhou, Siyuan Chen, Omkar Salunkhe, Ebru Turanoglu Bekar, Johan Stahre, Anders Skoogh (2026). Retrieval-grounded robot program generation and simulation-based correction via Model Context Protocol. arXiv:2608.21417 · Accepted for CIE53 2026. https://doi.org/10.48550/arXiv.2608.21417
@misc{Chen2026RobotProgramGeneration,
title = {{Retrieval-grounded robot program generation and simulation-based correction via Model Context Protocol}},
author = {Zhou, Zhichao and Chen, Siyuan and Salunkhe, Omkar and Turanoglu Bekar, Ebru and Stahre, Johan and Skoogh, Anders},
year = {2026},
doi = {10.48550/arXiv.2608.21417},
url = {https://arxiv.org/abs/2608.21417},
eprint = {2608.21417},
archivePrefix = {arXiv},
primaryClass = {cs.AI},
note = {arXiv preprint; accepted for CIE53 2026; presented in Abu Dhabi}
}
英文摘要来自所链接的原始记录；研究解读和要点用于简要说明论文内容。