Fault propagation and graph-based path generation for skill-based robot programming
Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany
Proceedings: ISR 2016
Pages: 8Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Lehmann, Christian; Le, Duc Tho (Brandenburg University of Technology, Cottbus, Germany)
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.