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

: Naumann, Martin; Verl, Alexander

Postprint urn:nbn:de:0011-n-2114016 (930 KByte PDF)
MD5 Fingerprint: 06124f7f34ca3e87df3e46d983f0f1eb
Created on: 14.8.2012

Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Roboterprogrammierung; Roboterzelle; Rekonfigurierbarkeit; Roboter; Industrieroboter; Programmieren; Semantik; Systemintegration

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.