Enabling Generic Robot Skill Implementation Using Object Oriented Programming

TL;DR

This paper introduces a software framework that simplifies robot system deployment by abstracting interfaces across different manufacturers, using Python to facilitate easier integration and development in manufacturing environments.

Contribution

It proposes a novel abstraction layer for robot interfaces, enabling generic skill implementation and reducing complexity in robotic system integration.

Findings

Prototype implemented in Python demonstrates ease of use.

Framework supports multiple robot models and manufacturers.

Simplifies deployment and maintenance of robotic systems.

Abstract

Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and developing robotic systems can be a challenge. As a result, many companies rely on external expertise through system integrators, which, in some cases, can lead to vendor lock-in and external dependency. In the academic research on intelligent manufacturing systems, robots play a critical role in the design of robust autonomous systems. Similar challenges are faced by researchers who want to use robotic systems as a component in a larger smart system, without having to deal with the complexity and vastness of the robot interfaces in detail. In this paper, we propose a software framework that reduces the effort required to deploy a working robotic system. The focus is solely on providing a concept for simplifying the different interfaces of a modern robot system and using an abstraction layer for different manufacturers and models. The Python programming language is used to implement a prototype of the concept. The target system is a bin-picking cell containing a Yaskawa Motoman GP4.