Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

Rasmus S. Andersen, Lazaros Nalpantidis, Volker Krüger, Ole Madsen, Thomas B. Moeslund

2014

Abstract

Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated many times. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done by expert robotic programmers, computer vision experts, etc., and it requires additionally lots of time. In this paper we present and use a skill based framework for robotic programming. In this framework, we develop a flexible pick skill, that can easily be reprogrammed to solve new specific tasks, even by non-experts. Using the pick skill, a robot can detect rotational symmetric objects on tabletops and pick them up in a user-specified manner. The programming itself is primarily done through kinesthetic teaching. We show that the skill has robustness towards the location and shape of the object to pick, and that objects from a real industrial production line can be handled. Also, preliminary tests indicate that non-expert users can learn to use the skill after only a short introduction.

Paper Citation

in Harvard Style

S. Andersen R., Nalpantidis L., Krüger V., Madsen O. and Moeslund T. (2014). Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios . In Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014) ISBN 978-989-758-009-3, pages 678-685. DOI: 10.5220/0004752306780685

in Bibtex Style

@conference{visapp14,
author={Rasmus S. Andersen and Lazaros Nalpantidis and Volker Krüger and Ole Madsen and Thomas B. Moeslund},
title={Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)},
year={2014},
pages={678-685},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004752306780685},
isbn={978-989-758-009-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2014)
TI - Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios
SN - 978-989-758-009-3
AU - S. Andersen R.
AU - Nalpantidis L.
AU - Krüger V.
AU - Madsen O.
AU - Moeslund T.
PY - 2014
SP - 678
EP - 685
DO - 10.5220/0004752306780685