Skill based robot programming: Assembly, vision and Workspace Monitoring skill interaction

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URI: https://hdl.handle.net/11556/3156
ISSN: 0925-2312
DOI: 10.1016/j.neucom.2016.09.133
Publication date
2017-09-13
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Abstract
The skill based programming eases the robot program generation, its similarity to human behavior allows non expert operators maintaining, adapting or creating robotic applications. The use of skills requires different approaches for the interaction between them, especially for sharing information. The presented approach combines the skill based programming using a state machine for low level robot execution management. With the proposed framework the interaction and communication between skills is improved. The work presented below is focused on the use of vision skills and safe Workspace Monitoring, for addressing a real use case where interaction with robot motions (organized as assembly skills) is required.
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Publisher Copyright: © 2017 Elsevier B.V.
Keywords
Collaborative robots , Easy programming , Flexibility , Robotics , Skill based programming , State machine , Vision skills , Workspace Monitoring , Computer Science Applications , Cognitive Neuroscience , Artificial Intelligence , SDG 9 - Industry, Innovation, and Infrastructure
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journal article
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Herrero , H , Moughlbay , A A , Outón , J L , Sallé , D & de Ipiña , K L 2017 , ' Skill based robot programming : Assembly, vision and Workspace Monitoring skill interaction ' , Neurocomputing , vol. 255 , pp. 61-70 . https://doi.org/10.1016/j.neucom.2016.09.133