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.
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Herrero, H., Outón, J.L., Esnaola, U., Sallé, D., de Ipiña, K.L. (2015). State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming. In: Ferrández Vicente, J., Álvarez-Sánchez, J., de la Paz López, F., Toledo-Moreo, F., Adeli, H. (eds) Bioinspired Computation in Artificial Systems. IWINAC 2015. Lecture Notes in Computer Science(), vol 9108. Springer, Cham. https://doi.org/10.1007/978-3-319-18833-1_11
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DOI: https://doi.org/10.1007/978-3-319-18833-1_11
Publisher Name: Springer, Cham
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