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: PDF

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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.