State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming

  • Héctor Herrero
  • Jose Luis Outón
  • Urko Esnaola
  • Damien Sallé
  • Karmele López de Ipiña
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9108)


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.


State Machine Trajectory Planner Increase Flexibility Pilot Station Level Control System 
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Héctor Herrero
    • 1
  • Jose Luis Outón
    • 1
  • Urko Esnaola
    • 1
  • Damien Sallé
    • 1
  • Karmele López de Ipiña
    • 2
  1. 1.Tecnalia Research and Innovation, Industry and Transport DivisionSan SebastiánSpain
  2. 2.Department of Systems Engineering and AutomationUPV/EHU (Basque Country University)San SebastiánSpain

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