State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming

Héctor Herrero; Jose Luis Outón; Urko Esnaola-Campos; Damien Sallé; Karmele López de Ipiña

doi:10.1007/978-3-319-18833-1_11

State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming

Héctor Herrero, Jose Luis Outón, Urko Esnaola-Campos, Damien Sallé, Karmele López de Ipiña

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.

Original language	English
Title of host publication	unknown
Editors	José Ramón Álvarez-Sánchez, Félix de la Paz López, Hojjat Adeli, José Manuel Ferrández Vicente, Fco. Javier Toledo-Moreo
Publisher	SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
Pages	98-106
Number of pages	9
ISBN (Electronic)	9783319188324
ISBN (Print)	978-3-319-18833-1
DOIs	https://doi.org/10.1007/978-3-319-18833-1_11
Publication status	Published - 2015
Event	International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2015 - Elche, Spain Duration: 1 Jun 2015 → 5 Jun 2015

Publication series

Name	0302-9743

Conference

Conference	International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2015
Country/Territory	Spain
City	Elche
Period	1/06/15 → 5/06/15

Keywords

robotics
finite state machines
software architecture
easy-programming
dual-arm robot

Access to Document

10.1007/978-3-319-18833-1_11

Cite this

Herrero, H., Outón, J. L., Esnaola-Campos, U., Sallé, D., & López de Ipiña, K. (2015). State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. In J. R. Álvarez-Sánchez, F. de la Paz López, H. Adeli, J. M. F. Vicente, & F. J. Toledo-Moreo (Eds.), unknown (pp. 98-106). (0302-9743). SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY. https://doi.org/10.1007/978-3-319-18833-1_11

Herrero, Héctor ; Outón, Jose Luis ; Esnaola-Campos, Urko et al. / State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. unknown. editor / José Ramón Álvarez-Sánchez ; Félix de la Paz López ; Hojjat Adeli ; José Manuel Ferrández Vicente ; Fco. Javier Toledo-Moreo. SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY, 2015. pp. 98-106 (0302-9743).

@inproceedings{6d5003886be64b48bf26f40132bdcdd0,

title = "State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming",

abstract = "This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.",

keywords = "robotics, finite state machines, software architecture, easy-programming, dual-arm robot, robotics, finite state machines, software architecture, easy-programming, dual-arm robot",

author = "H{\'e}ctor Herrero and Out{\'o}n, {Jose Luis} and Urko Esnaola-Campos and Damien Sall{\'e} and {L{\'o}pez de Ipi{\~n}a}, Karmele",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015; International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2015 ; Conference date: 01-06-2015 Through 05-06-2015",

year = "2015",

doi = "10.1007/978-3-319-18833-1_11",

language = "English",

isbn = "978-3-319-18833-1",

series = "0302-9743",

publisher = "SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY",

pages = "98--106",

editor = "{\'A}lvarez-S{\'a}nchez, {Jos{\'e} Ram{\'o}n} and {de la Paz L{\'o}pez}, F{\'e}lix and Hojjat Adeli and Vicente, {Jos{\'e} Manuel Ferr{\'a}ndez} and Toledo-Moreo, {Fco. Javier}",

booktitle = "unknown",

}

Herrero, H , Outón, JL , Esnaola-Campos, U , Sallé, D & López de Ipiña, K 2015, State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. in JR Álvarez-Sánchez, F de la Paz López, H Adeli, JMF Vicente & FJ Toledo-Moreo (eds), unknown. 0302-9743, SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY, pp. 98-106, International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2015, Elche, Spain, 1/06/15. https://doi.org/10.1007/978-3-319-18833-1_11

State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. / Herrero, Héctor ; Outón, Jose Luis ; Esnaola-Campos, Urko et al.
unknown. ed. / José Ramón Álvarez-Sánchez; Félix de la Paz López; Hojjat Adeli; José Manuel Ferrández Vicente; Fco. Javier Toledo-Moreo. SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY, 2015. p. 98-106 (0302-9743).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming

AU - Herrero, Héctor

AU - Outón, Jose Luis

AU - Esnaola-Campos, Urko

AU - Sallé, Damien

AU - López de Ipiña, Karmele

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015

PY - 2015

Y1 - 2015

N2 - This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.

AB - This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.

KW - robotics

KW - finite state machines

KW - software architecture

KW - easy-programming

KW - dual-arm robot

KW - robotics

KW - finite state machines

KW - software architecture

KW - easy-programming

KW - dual-arm robot

UR - http://www.scopus.com/inward/record.url?scp=84937689445&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-18833-1_11

DO - 10.1007/978-3-319-18833-1_11

M3 - Conference contribution

SN - 978-3-319-18833-1

T3 - 0302-9743

SP - 98

EP - 106

BT - unknown

A2 - Álvarez-Sánchez, José Ramón

A2 - de la Paz López, Félix

A2 - Adeli, Hojjat

A2 - Vicente, José Manuel Ferrández

A2 - Toledo-Moreo, Fco. Javier

PB - SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY

T2 - International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2015

Y2 - 1 June 2015 through 5 June 2015

ER -

Herrero H , Outón JL , Esnaola-Campos U , Sallé D, López de Ipiña K. State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. In Álvarez-Sánchez JR, de la Paz López F, Adeli H, Vicente JMF, Toledo-Moreo FJ, editors, unknown. SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY. 2015. p. 98-106. (0302-9743). doi: 10.1007/978-3-319-18833-1_11

State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this