Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics

Herrero, HéctorOutón, JosePuerto, MildredSallé, DamienLópez de Ipiña, Karmele2017-06Herrero , H , Outón , J , Puerto , M , Sallé , D & López de Ipiña , K 2017 , ' Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics ' , Sensors , vol. 17 , no. 6 , 1249 , pp. 1249 . https://doi.org/10.3390/s170612491424-3210researchoutputwizard: 11556/459Publisher Copyright: © 2017 by the authors. Licensee MDPI, Basel, Switzerland.This 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.11717430enginfo:eu-repo/semantics/openAccessEnhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Roboticsjournal article10.3390/s17061249Intelligent roboticsFlexibilityReusabilityMultisensorState machineSoftware architectureComputer visionIntelligent roboticsFlexibilityReusabilityMultisensorState machineSoftware architectureComputer visionAnalytical ChemistryBiochemistryAtomic and Molecular Physics, and OpticsInstrumentationElectrical and Electronic EngineeringSDG 9 - Industry, Innovation, and InfrastructureProject IDinfo:eu-repo/grantAgreement/EC/H2020/680759/EU/Rapid Reconfiguration of Flexible Production Systems through Capability-based Adaptation, Auto-configuration and Integrated tools for Production Planning/RECAMinfo:eu-repo/grantAgreement/EC/H2020/680759/EU/Rapid Reconfiguration of Flexible Production Systems through Capability-based Adaptation, Auto-configuration and Integrated tools for Production Planning/RECAMFunding InfoThis research has received funding from the European Union's Horizon 2020 research and innovation program under Grant Agreement No. 680759 (ReCaM: Rapid Reconfiguration of Flexible Production Systems.This research has received funding from the European Union's Horizon 2020 research and innovation program under Grant Agreement No. 680759 (ReCaM: Rapid Reconfiguration of Flexible Production Systems.http://www.scopus.com/inward/record.url?scp=85020469363&partnerID=8YFLogxK