moving collaborative

https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative

as defined in Capability Model ontology

version info
0.0.7
imports
title
Capability Model ontology
description
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
comment
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
creator
Eeva Järvenpää
contributor
Eeva Järvenpää
Niko Siltala
Otto Hylli
date
2018-03-18
rights
This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0). To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/
language
en
Other visualisation
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moving collaborative
c

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative

comment
Capability to move items within a certain workspace with collaborative movement. For example a dual arm robot has this capability.
is disjoint with
drill bit functionc,
drillingc,
finger functionc,
finger graspingc,
finger gripper functionc,
fixturingc,
force applyingc,
holding by gravityc,
millingc,
milling cutter functionc,
milling tool functionc,
movingc,
orienting mechanicalc,
part storing in trayc,
part storing in tubec,
pickingc,
positioning mechanicalc,
press tool functionc,
pressingc,
releasingc,
screwingc,
screwing head functionc,
spinning toolc,
tool holdingc,
transport feedingc,
transportingc,
tray feedingc,
tray holdingc,
tube feeder base functionc,
tube feedingc,
vacuum cup functionc,
vacuum graspingc,
vacuum gripper functionc
is sub class of
has rotation movement rangeop
only
rotational movement rangec
dofdp
max 6
thingc
acceleration y maxdp
max 1
thingc
has workspace type and dimensionsop
only
workspacec
speed z maxdp
max 1
thingc
acceleration x maxdp
max 1
thingc
speed y maxdp
max 1
thingc
has workspace type and dimensionsop
exactly 1
thingc
has linear movement rangeop
max 1
thingc
has rotation movement rangeop
max 1
thingc
payloaddp
exactly 1
thingc
speed x maxdp
max 1
thingc
repeatabilitydp
exactly 1
thingc
acceleration z maxdp
max 1
thingc
has linear movement rangeop
only
linear movement rangec
accuracydp
exactly 1
thingc
dof numberdp
exactly 1
thingc
simple capabilityc

@prefix : <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#> .
@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> {
    :MovingCollaborative a owl:Class ;
        rdfs:comment """Capability to move items within a certain workspace with collaborative movement. 
For example a dual arm robot has this capability."""^^xsd:string ;
        rdfs:subClassOf _:n5f27e8e7f0bc4a28918f4807b1ef6336b138,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b139,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b140,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b141,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b142,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b143,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b144,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b145,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b146,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b147,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b148,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b149,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b150,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b151,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b152,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b153,
            _:n5f27e8e7f0bc4a28918f4807b1ef6336b154,
            :SimpleCapability ;
        owl:disjointWith :DrillBitFunction,
            :Drilling,
            :FingerFunction,
            :FingerGrasping,
            :FingerGripperFunction,
            :Fixturing,
            :ForceApplying,
            :HoldingByGravity,
            :Milling,
            :MillingCutterFunction,
            :MillingToolFunction,
            :Moving,
            :OrientingMechanical,
            :PartStoringInTray,
            :PartStoringInTube,
            :Picking,
            :PositioningMechanical,
            :PressToolFunction,
            :Pressing,
            :Releasing,
            :Screwing,
            :ScrewingHeadFunction,
            :SpinningTool,
            :ToolHolding,
            :TransportFeeding,
            :Transporting,
            :TrayFeeding,
            :TrayHolding,
            :TubeFeederBaseFunction,
            :TubeFeeding,
            :VacuumCupFunction,
            :VacuumGrasping,
            :VacuumGripperFunction .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b138 a owl:Restriction ;
        owl:allValuesFrom :RotationalMovementRange ;
        owl:onProperty :hasRotationMovementRange .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b139 a owl:Restriction ;
        owl:maxCardinality "6"^^xsd:nonNegativeInteger ;
        owl:onProperty :dof .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b140 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_y_max .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b141 a owl:Restriction ;
        owl:allValuesFrom :Workspace ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b142 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_z_max .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b143 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_x_max .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b144 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_y_max .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b145 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b146 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :hasLinearMovementRange .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b147 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :hasRotationMovementRange .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b148 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :payload .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b149 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_x_max .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b150 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :repeatability .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b151 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_z_max .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b152 a owl:Restriction ;
        owl:allValuesFrom :LinearMovementRange ;
        owl:onProperty :hasLinearMovementRange .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b153 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :accuracy .

    _:n5f27e8e7f0bc4a28918f4807b1ef6336b154 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :dofNumber .
}


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        "http://www.w3.org/2000/01/rdf-schema#comment": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#string",
            "@value": "Capability to move items within a certain workspace with collaborative movement. \nFor example a dual arm robot has this capability."
          }
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        "http://www.w3.org/2002/07/owl#disjointWith": [
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube"
          },
          {
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          },
          {
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          },
          {
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction"
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          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction"
          },
          {
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction"
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool"
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          },
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding"
          },
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          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy"
          }
        ]
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        ],
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          }
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          }
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        "http://www.w3.org/2002/07/owl#onProperty": [
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          }
        ]
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            "@value": "1"
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        "http://www.w3.org/2002/07/owl#onProperty": [
          {
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          }
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        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasRotationMovementRange"
          }
        ]
      },
      {
        "@id": "_:n5f27e8e7f0bc4a28918f4807b1ef6336b150",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability"
          }
        ]
      },
      {
        "@id": "_:n5f27e8e7f0bc4a28918f4807b1ef6336b149",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_x_max"
          }
        ]
      },
      {
        "@id": "_:n5f27e8e7f0bc4a28918f4807b1ef6336b141",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#allValuesFrom": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions"
          }
        ]
      },
      {
        "@id": "_:n5f27e8e7f0bc4a28918f4807b1ef6336b144",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_y_max"
          }
        ]
      }
    ],
    "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b148 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b148 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b151 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b139 <http://www.w3.org/2002/07/owl#maxCardinality> "6"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b138 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b145 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b142 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b138 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b140 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b153 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b146 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b146 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasLinearMovementRange> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b154 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b151 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b141 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b149 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_x_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b145 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b148 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b139 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b151 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_z_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b152 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasLinearMovementRange> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b152 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b146 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b141 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b142 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b142 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_z_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b139 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b147 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b141 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b140 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b139 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b153 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b146 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b153 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b144 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b154 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b154 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dofNumber> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Class> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b143 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_x_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b150 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b140 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_y_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b147 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b144 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_y_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b153 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b154 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b152 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b143 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b148 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability to move items within a certain workspace with collaborative movement. \nFor example a dual arm robot has this capability."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b147 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasRotationMovementRange> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b138 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RotationalMovementRange> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b140 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b143 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b149 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b145 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b152 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#LinearMovementRange> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b142 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b147 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b150 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SimpleCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b144 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b149 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b150 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b141 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n5f27e8e7f0bc4a28918f4807b1ef6336b144 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b138 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasRotationMovementRange> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b149 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b151 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b143 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b150 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n5f27e8e7f0bc4a28918f4807b1ef6336b145 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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