State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming
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Author/sHerrero, Héctor; Outón, Jose Luis; Esnaola-Campos, Urko; Sallé, Damien; López de Ipiña, Karmele
finite state machines
This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.