Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks

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Sammanfattning

The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control, which limit their usefulness. In this paper, we show how a single robot skill that utilizes knowledge representation, task planning, and automatic selection of skill implementations based on the input parameters can be executed in different contexts. We demonstrate how the skill-based control platform enables this with contact-rich wiping tasks on different robot systems. To achieve that in this case study, our approach needs to address different kinematics, gripper types, vendors, and fundamentally different control interfaces. We conducted the experiments with a mobile platform that has a Universal Robots UR5e 6 degree-of-freedom robot arm with position control and a 7 degree-of-freedom KUKA iiwa with torque control.

Originalspråkengelska
Titel på värdpublikation2023 IEEE 19th International Conference on Automation Science and Engineering, CASE 2023
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (elektroniskt)9798350320695
DOI
StatusPublished - 2023
Evenemang19th IEEE International Conference on Automation Science and Engineering, CASE 2023 - Auckland, Nya Zeeland
Varaktighet: 2023 aug. 262023 aug. 30

Publikationsserier

NamnIEEE International Conference on Automation Science and Engineering
Volym2023-August
ISSN (tryckt)2161-8070
ISSN (elektroniskt)2161-8089

Konferens

Konferens19th IEEE International Conference on Automation Science and Engineering, CASE 2023
Land/TerritoriumNya Zeeland
OrtAuckland
Period2023/08/262023/08/30

Bibliografisk information

Publisher Copyright:
© 2023 IEEE.

Ämnesklassifikation (UKÄ)

  • Robotteknik och automation

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