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

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

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.

References

  1. Archibald, C. and Petriu, E. (1993). Model for skillsoriented robot programming (skorp). In Optical Engineering and Photonics in Aerospace Sensing, pages 392-402. International Society for Optics and Photonics.
  2. Bøgh, S., Nielsen, O., Pedersen, M., Krüger, V., and Madsen, O. (2012). Does your robot have skills? In Proceedings of the 43rd International Symposium on Robotics.
  3. Bjorkelund, A., Edstrom, L., Haage, M., Malec, J., Nilsson, K., Nugues, P., Robertz, S. G., Storkle, D., Blomdell, A., Johansson, R., Linderoth, M., Nilsson, A., Robertsson, A., Stolt, A., and Bruyninckx, H. (2011). On the integration of skilled robot motions for productivity in manufacturing. In Assembly and Manufacturing, IEEE International Symposium on, pages 1-9.
  4. EUROP (2009). Robotics visions to 2020 and beyond - the strategic research agenda for robotics in europe (SRA). Technical report, EUROP.
  5. Fikes, R. E. and Nilsson, N. J. (1972). Strips: A new approach to the application of theorem proving to problem solving. Artificial intelligence, 2(3):189-208.
  6. Fischler, M. A. and Bolles, R. C. (1981). Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM, 24(6):381-395.
  7. Gat, E. (1998). On three-layer architectures. In Kortenkamp, D., Bonnasso, P. R., and Murphy, R., editors, Artificial Intelligence and Mobile Robots, pages 195-210.
  8. Hvilshøj, M. and Bøgh, S. (2011). ”Little Helper” - an autonomous industrial mobile manipulator concept. International Journal of Advanced Robotic Systems, 8(2).
  9. Hvilshøj, M., Bøgh, S., Madsen, O., and Kristiansen, M. (2009). The mobile robot ”Little Helper”: Concepts, ideas and working principles. In ETFA, pages 1-4.
  10. Klank, U., Pangercic, D., Rusu, R. B., and Beetz, M. (2009). Real-time CAD model matching for mobile manipulation and grasping. In Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on, pages 290-296. IEEE.
  11. Mae, Y., Takahashi, H., Ohara, K., Takubo, T., and Arai, T. (2011). Component-based robot system design for grasping tasks. Intelligent Service Robotics, 4(1):91- 98.
Download


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