Browsing by Keyword "State machine"
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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 A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context(2021-05-27) Outón, Jose Luis; Merino, Ibon; Villaverde, Iván; Ibarguren, Aitor; Herrero, Héctor; Daelman, Paul; Sierra, Basilio; Tecnalia Research & Innovation; ROBOTICA_FLEX; ROBOTICA_AUTOMAIn modern industry there are still a large number of low added-value processes that can be automated or semi-automated with safe cooperation between robot and human operators. The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator (AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs need to have a variety of advanced cognitive skills like autonomous navigation, smart perception and task management. In this paper, we report the project’s tackle in a paradigmatic industrial application combining accurate autonomous navigation with deep learning-based 3D perception for pose estimation to locate and manipulate different industrial objects in an unstructured environment. The proposed method presents a combination of different technologies fused in an AIMM that achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.