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Intuitive constraint-based robot programming for robotic assembly tasks

: Halt, Lorenz; Nägele, Frank; Tenbrock, Philipp; Pott, Andreas


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Robotics and Automation Society:
ICRA 2018, IEEE International Conference on Robotics and Automation : 21-25 May 2018, Brisbane Convention & Exhibition Centre
Piscataway, NJ: IEEE, 2018
ISBN: 978-1-5386-3080-8
International Conference on Robotics and Automation (ICRA) <2018, Brisbane>
Fraunhofer IPA ()
intuitive Programmierung; assembly robot; Roboterprogrammierung; sensory control; assembly; Montageroboter; Montage

Recent intuitive robot programming approaches operate on task level, enabling programmers to intuitively arrangeor compose encapsulating robot capabilities (skills). This paper presents an approach to intuitively create (sub-)skills. General guidelines for assembly process descriptions #2860 provided by the Association of German Engineers VDI are applied to robot programming, in particular addressing assembly applications. The guidelines are exemplarily applied to the constraint-based approach iTaSC (instantaneous Task Specification using Constraints), presenting a procedure to hierarchically combine elementary processes to (sub-)skills. Six elementary processes are identified to be sufficient to implement a wide variety of assembly tasks. An iTaSC implementation was developed and two exemplarily assembly tasks were realized to evaluate the approach.