SkiRoS: Skills for Robotic Systems for enabling agile production

  • Krueger, Volker (Researcher)
  • Rovida, Francesco (Researcher)
  • Grossmann, Bjarne (Researcher)

Project Details

Description

The goal of this project is to make the existing robot skill framework SkiRoS available to Robotic Integrators to enable and simplify robot programming for agile production applications in small and medium-size enterprises (SMEs).
Today’s production is either highly manual allowing to produce highly customised parts in small numbers, or it is fully automated with limited customisation but large number of pieces.
The goal of agile production is to allow high levels of customisation even for highly automated manufacturing solutions. Agile production approaches allow for fast and easy adaption to new customer demands and to unforeseen tasks. Due to their flexibility, robots are a core ingredient in agile production approaches.
Through multiple EU projects and WASP projects we have developed robot programming platform SkiROS that provides the robot with functionalities needed in agile production.
The approach is based on robot-skills The term robot-skill refers to building blocks out of which robot programs are built. Skills are meant to apply concrete changes to the state-space (digital twin). Skills can be concatenated into complex programs, and various checks ensure a) the validity of a skill-based program and b) verify that the robot works according to specifications.
SkiRoS is aimed for use by robotic system integrators. Most robot integrators lack the expertise of a skill specialist or a device control specialist. The goal of SkiRoS is to hide these complications from the robot integrator and to provide him/her with the necessary tools and components to enable him/her to generate robot programs that can be used in agile production applications of SMEs.
SkiRoS is based on ROS industrial, which provides skill-primitives for most commonly used robots such as UR, Kuka and Fanuk. It integrates seamlessly robot control with cameras, force sensing and reasoning and planning. SkiRoS also provides a set of skills that are relevant for pick-and-place tasks of various complexities, inc. some assembly tasks.
SkiRoS has been tested in multiple use-cases at various companies, incl. PSA Peugeot Citroen, and in the international 2018 Agile Robotics for Industrial Automation Competition (ARIAC) where it finished 3rd.

This project is funded by Wallenberg foundation

Layman's description

The goal of this project is to make the existing robot skill framework SkiRoS available to Robotic Integrators to enable and simplify robot programming for agile production applications in small and medium-size enterprises (SMEs).
StatusActive
Effective start/end date2020/01/012022/12/31