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.
CITATION STYLE
Herrero, H., Outón, J. L., Esnaola, U., Sallé, D., & de López Ipiña, K. (2015). State machine based architecture to increase flexibility of dual-arm robot programming. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9108, pp. 98–106). Springer Verlag. https://doi.org/10.1007/978-3-319-18833-1_11
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