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

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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

8 Citations (Scopus)

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.
Original languageEnglish
Title of host publicationVISAPP 2014 - Proceedings of the 9th International Conference on Computer Vision Theory and Applications
Number of pages8
Volume3
PublisherSCITEPRESS Digital Library
Publication date1 Jan 2014
Pages678-685
ISBN (Print)978-989758009-3
Publication statusPublished - 1 Jan 2014
Event International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications: VISAPP 2014 - Lisbon, Portugal
Duration: 5 Jan 20148 Jan 2014

Conference

Conference International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Country/TerritoryPortugal
CityLisbon
Period05/01/201408/01/2014

Cite this