Preprint Article Version 1 This version is not peer-reviewed

Enhanced Flexibility and Reusability Through State Machine Based Architectures for Multisensor Intelligent Robotics

Version 1 : Received: 19 April 2017 / Approved: 20 April 2017 / Online: 20 April 2017 (04:14:33 CEST)

A peer-reviewed article of this Preprint also exists.

Herrero, H.; Outón, J.L.; Puerto, M.; Sallé, D.; López de Ipiña, K. Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics. Sensors 2017, 17, 1249. Herrero, H.; Outón, J.L.; Puerto, M.; Sallé, D.; López de Ipiña, K. Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics. Sensors 2017, 17, 1249.

Journal reference: Sensors 2017, 17, 1249
DOI: 10.3390/s17061249

Abstract

This paper presents a state machine based architecture which enhances flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating presented approach versus traditional robot programming techniques.

Subject Areas

intelligent robotics; flexibility; reusability; multisensor; state machine; software architecture; computer vision

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