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

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Part of the Lecture Notes in Computer Science book series (LNTCS,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.


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Correspondence to Héctor Herrero .

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© 2015 Springer International Publishing Switzerland

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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.

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18832-4

  • Online ISBN: 978-3-319-18833-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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