Towards Error Handling in a DSL for Robot Assembly Tasks
  This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the likelihood of errors, and these errors need to be addressed. Nevertheless, it is essential that programming and setting up the assembly remains fast, allows quick changeovers, easy adjustments and reconfigurations. In this paper we present an initial design and implementation of extending an existing DSL for assembly operations with error specification, error handling and advanced move commands incorporating error tolerance. The DSL is used as part of a framework that aims at tackling uncertainties through a probabilistic approach. 
Johan S. Laursen, Jacob P. Buch, Lars C. S{\o}rensen, Dirk Kraft,   Henrik G. Petersen Lars-Peter Ellekilde and Ulrik P. Schultz
cs.RO