High-level integration of components into a robot cell using semantically annotated state chart descriptions

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 6Language: englishTyp: PDF

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Naumann, Martin; Verl, Alexander (Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany)

This paper describes a concept for the reconfiguration and programming of a robot system for different application types by a non-expert end-user. To achieve this, it is necessary to exchange components on demand and at the same time reuse available process definitions, offer a high-level programming interface for the end-user and generate executable code for the involved components automatically. The presented concept is based on component, process and application descriptions realized as semantically annotated state charts. Matching of process and component descriptions determines executable processes. Fusion of process, component and application description results in executable code. The concept is intended to provide a basis for the realization of robot assistants for small series production where a robot system must be a flexible to use and easy to program tool that supports workers in their daily business.