Programming of Skill-based Robots

TL;DR

This paper presents a flexible robot programming system using a skill library that enables high-level, parameterized task programming for manufacturing automation, leveraging CAD models and sensors for real-time execution.

Contribution

It introduces a novel skill-based programming approach for robots that simplifies task programming and enhances flexibility in manufacturing automation.

Findings

Feasibility demonstrated through practical tests.

System supports high-level, parameterized robot skills.

Utilizes CAD models and sensors for task execution.

Abstract

Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the importance of software has increased drastically. Easy and fast task programming and execution in robot - sensor systems become a prerequisite for agile and flexible automation and in this paper, we propose such a system. Our solution relies on a robot skill library, which provides the user with high level and parametrized operations, i.e., robot skills, for task programming and execution. Programming actions results to a control recipe in a neutral product context and is based on use of product CAD models or alternatively collaborative use of pointers and tracking sensor with real parts. Practical tests are also reported to show the feasibility of our approach.