Fault propagation and graph-based path generation for skill-based robot programming

Inhalt:
The use of skill-based programming for industrial robots has been an ongoing research topic during the last years. In this paper two approaches that intend to increase the practical usability of skill-based approaches are presented: The first is a systematic for skill structuring that allows automatic error handling and fault propagation, the second is an approach for fast and safety-certifiable path generation within flexible industrial robot cells.