Abstract
This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Smith, C., Karayiannidis, Y., Nalpantidis, L., Gratal, X., Qi, P., Dimarogonas, D.V., Kragic, D.: Dual arm manipulation a survey. Robotics and Autonomous systems 60(10), 1340–1353 (2012)
Thomas, U., Hirzinger, G., Rumpe, B., Schulze, C., Wortmann, A.: A new skill based robot programming language using uml/p statecharts. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 461–466. IEEE (2013)
Sen, S., Sherrick, G., Ruiken, D., Grupen, R.A.: Hierarchical skills and skill-based representation. In: Lifelong Learning (2011)
Zhou, J., Ding, X., Qing, Y.Y.: Automatic planning and coordinated control for redundant dual-arm space robot system. Industrial Robot: An International Journal 38(1), 27–37 (2011)
Poppa, F., Zimmer, U.: Robotui-a software architecture for modular robotics user interface frameworks. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2571–2576. IEEE (2012)
Alonso, D., Vicente-Chicote, C., Pastor, J.A., Álvarez, B.: Stateml: From graphical state machine models to thread-safe ada code. In: Kordon, F., Vardanega, T. (eds.) Ada-Europe 2008. LNCS, vol. 5026, pp. 158–170. Springer, Heidelberg (2008)
Orocos rfsm, http://people.mech.kuleuven.be/mklotzbucher/rfsm/readme.html
Smach, http://wiki.ros.org/smach
Ros, http://www.ros.org/
Bischoff, R., Guhl, T., Prassler, E., Nowak, W., Kraetzschmar, G., Bruyninckx, H., Soetens, P., Haegele, M., Pott, A., Breedveld, P., et al.: Brics-best practice in robotics. In: 2010 41st International Symposium on Robotics (ISR) and 2010 6th German Conference on Robotics (ROBOTIK), pp. 1–8. VDE (2010)
Kawada nextage, http://nextage.kawada.jp/en/
Jouhou system kougaku laboratory, Tokyo university, http://www.jsk.t.u-tokyo.ac.jp/
Tokyo opensource robotics kyokai association, http://opensource-robotics.tokyo.jp/?lang=en
Openrtm-aist middleware, http://openrtm.org/
Fast research interface library, http://cs.stanford.edu/people/tkr/fri/html/
Andersen, R.H., Solund, T., Hallam, J.: Definition and initial case-based evaluation of hardware-independent robot skills for industrial robotic co-workers. In: ISR/Robotik 2014; Proceedings of the 41st International Symposium on Robotics, pp. 1–7 (2014)
Vanthienen, D., De Laet, T., Decré, W., Smits, R., Klotzbücher, M., Buys, K., Bellens, S., Gherardi, L., Bruyninckx, H., De Schutter, J.: Itasc as a unified framework for task specification, control, and coordination, demonstrated on the pr2. In: IEEE International Conference on Mechatronics and Robotics (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Herrero, H., Outón, J.L., Esnaola, U., Sallé, D., de Ipiña, K.L. (2015). State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. In: Ferrández Vicente, J., Álvarez-Sánchez, J., de la Paz López, F., Toledo-Moreo, F., Adeli, H. (eds) Bioinspired Computation in Artificial Systems. IWINAC 2015. Lecture Notes in Computer Science(), vol 9108. Springer, Cham. https://doi.org/10.1007/978-3-319-18833-1_11
Download citation
DOI: https://doi.org/10.1007/978-3-319-18833-1_11
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-18832-4
Online ISBN: 978-3-319-18833-1
eBook Packages: Computer ScienceComputer Science (R0)