TY - Journal Article AU - Herrero, Héctor AU - Outón, Jose Luis AU - Esnaola-Campos, Urko AU - Sallé, Damien AU - López de Ipiña, Karmele TI - State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming PY - 2015 PB - SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY AB - 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. SN - 0302-9743 UR - http://hdl.handle.net/11556/255 DX - 10.1007/978-3-319-18833-1_11 ER -