An integrative approach for multi-sensor based robot task programming

摘要

In this paper, we suggest skill primitive nets for multi-sensor integration in robot task programming. Each skill primitive is either a hybrid motion or a command interpreted by an external vision system. For the integration of different sensors into one general and comprehensive approach, one has to consider different sensing modalities. With an extension of our previously outlined approach of skill primitive nets, multi-sensor integration is possible. Thereby, a large amount of applications can be realized. We also give a precise specification as XML-interface for skill primitive nets. In this paper advantages are outlined, when using this interface between programming and control. Our skill primitive net approach for multi-sensor integration has been evaluated with industrial applications.