Oestreich, Hendrik: Design of an Interactively Parametrizable Robot Skill Architecture for the KUKA iiwa. 2017
Inhalt
- Introduction
- Related Work
- Concept
- Skill Primitives
- Skills
- Tasks
- Composition of Skills and Tasks
- Concept for Realization
- Interactive Parametrization
- Task Frames
- Implementation
- Framework Architecture
- Skill primitives - Kuka specific
- Skill primitives - Generic implementation (AWAre Plugin)
- Skill and Task Composition
- Task Frames
- Interactive Parametrization
- Application
- Production Environment and Components
- Modelled Assembly Process
- Plug and Produce
- Simulation and Motion Planning
- Safety
- Discussion
- Conclusion and Outlook
- Appendix
- BPMN Diagrams
- Code