Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger
Andreas Gaugenrieder (1), Hari Hara Balasubramaniam (1), Jannik M\"ohrle (1), R\"udiger Daub (1, 2) ((1) Fraunhofer Institute for Casting, Composite, Processing Technology IGCV, (2) Institute for Machine Tools, Industrial Management, Technical University of Munich)
TL;DR
This paper presents a planning method that optimizes motion sequences in skill-based robot programming, implemented on a PLC, resulting in improved execution efficiency across various robotic systems.
Contribution
It introduces a novel planning approach that integrates motion sequence optimization into skill-based robot programming, leading to the development of MoveContinuousSkill.
Findings
Significant reduction in execution time with optimized motion sequences
Successful implementation of the method on multiple robotic systems
Enhanced flexibility and efficiency in robot skill programming
Abstract
Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances skill-based robot programming by integrating motion sequence optimization. This optimization leads to a new MoveContinuousSkill. The software for executing the MoveContinuousSkill is implemented on a Programmable Logic Controller and applied across multiple robotic systems. Experimental results demonstrate a significant improvement in execution time through optimized motion sequence.
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Taxonomy
TopicsRobot Manipulation and Learning · Robotic Mechanisms and Dynamics · Teleoperation and Haptic Systems