AbstractThis paper considers programming and control of skill-based robots. Robot skills are used to integrate and synchronize robot actions and sensor data in a consistent way. Skill-based approach provides a framework for configurable robot systems, enabling quick setups and start-ups of applications. In the paper we will introduce skill programming and skill control concepts in more detail and how they relate to usage of models and sensors. We will also give a practical example for programming and implementing skills for a grinding application.
This work considers flexible manufacturing operations based on reconfigurable robotic skills and their usage in fully automated service manufacturing. In agile and ultra-flexible manufacturing operations, where lot sizes go down to one, the setup and execution of new tasks must be instant. We extend service manufacturing towards applications of multi-purpose autonomous mobile robots. We take digital data and service-oriented approach to configure and utilize re-usable robot operations formulated as robot skills. We integrate service requests, and system and robot skill models for an easily executable manufacturing service system. We show the feasibility of our approach by experimental tests with merged indoor logistics, assembly, and finishing tasks.
Robot skills provide a way to model and reuse sensor and robot technologies in effective ways. Skills can integrate and synchronize robot actions and sensor data in a consistent way and provide a framework for configurable robot systems, enabling quick setups of applications. Skills and skill modeling can be used not only for representing the composition of sensor based robot tasks, but also for programming on-line such tasks. In this paper we will introduce a skill based approach for representing on-line programming of skill based tasks. We will also give a practical example for modelling and implementing on-line programming of a handling skill relying on use of object localization sensors.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.