You are here: Home :: Area NEM :: Engineering :: Automation

Bernd Finkemeyer, Torsten Kröger, Friedrich M. Wahl

Manipulation Primitives: An Universal Robot Programming Paradigma

Present-day robot systems are scarcely able to react on unforeseen events. Inaccuracies and small task adaptations often cause disturbances and additional engineering efforts. This inflexibility can be reduced by usage of suited sensor systems. The integration of respective sensor systems is difficult and often leads to specialized, individual solutions. As universal solution, this paper introduces the programming paradigm of manipulation primitives, which allows the definition of sensor-guided and sensor-guarded motion on the programming level. During runtime, the required control functionalities can be integrated automatically in the robot control system. The system architecture and its practical application by means of industrial sample tasks are described.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 53, 04/2005
Pages: 189 - 196

Journal homepage (external site)

Show all available items of this journal

 

Area NEM