Browsing by Author "López de Ipiña, Karmele"
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Item Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics(2017-06) Herrero, Héctor; Outón, Jose; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele; Tecnalia Research & Innovation; ROBOTICA_FLEX; FACTORYThis paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.Item State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming(SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY, 2015) Herrero, Héctor; Outón, Jose Luis; Esnaola-Campos, Urko; Sallé, Damien; López de Ipiña, Karmele; Álvarez-Sánchez, José Ramón; de la Paz López, Félix; Adeli, Hojjat; Vicente, José Manuel Ferrández; Toledo-Moreo, Fco. Javier; Tecnalia Research & Innovation; ROBOTICA_FLEXThis 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.