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Intuitive dual arm robot programming for assembly operations

: Makris, S.; Tsarouchi, P.; Surdilovic, D.; Krüger, J.


International Academy for Production Engineering -CIRP-, Paris:
64th general assembly of CIRP 2011 = 64ème assemblée générale du CIRP = 64. Mitgliederversammlung des CIRP : Nantes, France - August 24 - 30, 2014
Amsterdam: Elsevier, 2014 (CIRP annals 63.2014, Nr.1)
ISSN: 0007-8506
International Institution for Production Engineering Research (General Assembly) <64, 2014, Nantes>
College International pour la Recherche en Productique (Assemblée Générale) <64, 2014, Nantes>
Internationale Akademie für Produktionstechnik (Mitgliederversammlung) <64, 2014, Nantes>
Conference Paper, Journal Article
Fraunhofer IPK ()

This study has to do with a method for the intuitive programming of dual arm robots. A task oriented programming procedure is described for this reason, including the proposed dual arm robotics library and the human language. The robotics library aspires after human like capabilities and implements bi-manual operations. This intuitive programming framework is based on a service oriented architecture and is developed in ROS. The user can easily interact with a dual arm robot platform through depth sensors, noise canceling microphones and GUIs. The methods have been implemented in a dual arm robot platform for an assembly case from the automotive industry.