Easy robot programming concepts: An industrial perspective

Rossano, Gregory; Martínez, Carlos; Hedelind, Mikael; Murphy, S.H.; Fuhlbrigge, Thomas

doi:10.1109/coase.2013.6654035

Cited by 49 publications

(20 citation statements)

References 6 publications

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“…The complexity of robot programming is a commonly discussed problem [17,18]. By abstracting away the underlying details of the system, high-level programming can make robot instruction accessible to non-expert users.…”

Section: Related Workmentioning

confidence: 99%

From High-Level Task Descriptions to Executable Robot Code

Stenmark

Malec

Stolt

2015

Advances in Intelligent Systems and Computing

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Abstract. For robots to be productive co-workers in the manufacturing industry, it is necessary that their human colleagues can interact with them and instruct them in a simple manner. The goal of our research is to lower the threshold for humans to instruct manipulation tasks, especially sensor-controlled assembly. In our previous work we have presented tools for high-level task instruction, while in this paper we present how these symbolic descriptions of object manipulation are translated into executable code for our hybrid industrial robot controllers.

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Section: Related Workmentioning

confidence: 99%

From High-Level Task Descriptions to Executable Robot Code

Stenmark

Malec

Stolt

2015

Advances in Intelligent Systems and Computing

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“…The programming of an industrial robot system for a specific application is generally difficult, time-consuming and expensive [41]. In many cases, the cost of programming itself accounts for a significant portion of the cost of the entire industrial robot system, as production-grade robot systems can require days or weeks of effort from highly trained robot programmers, depending on the systems' type of application [46]. There are some studies report about programming times exceeding 300 times the automated process' cycle times [41].…”

Section: Flexible Manufacturing By Means Of Industrial Robotsmentioning

confidence: 99%

“…There are some studies report about programming times exceeding 300 times the automated process' cycle times [41]. In the case of product customization, with frequent product changeover, maintaining and editing robot programs is a major issue [46], and the complexity of programming remains one of the key obstacles preventing the use of industrial robots in many companies [41]. With computer technology becoming more powerful and graphical in nature, many attempts for making industrial robots easier to program are now made [46].…”

Section: Flexible Manufacturing By Means Of Industrial Robotsmentioning

confidence: 99%

“…In the case of product customization, with frequent product changeover, maintaining and editing robot programs is a major issue [46], and the complexity of programming remains one of the key obstacles preventing the use of industrial robots in many companies [41]. With computer technology becoming more powerful and graphical in nature, many attempts for making industrial robots easier to program are now made [46]. One such initiative is CAD based programming, where the user inputs CAD data and a software (semi-) automatically generates robot programs which are uploaded to the robot when necessary [46].…”

Section: Flexible Manufacturing By Means Of Industrial Robotsmentioning

confidence: 99%

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Implications of automation in engineer-to-order production: a case study

2014

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In order to retain a certain level of production in Norway, suppliers to the Norwegian maritime industry need to lower their production costs. Automation is generally an effective way of achieving this in standardized high-volume, low variety production. However, manufacturing companies in the Norwegian maritime industry typically supply capital-intensive, advanced and customized products in low volumes. In this engineer-to-order production situation, manual labor is traditionally preferred over automation. Nonetheless, such companies increasingly automate parts of their production. This paper presents a case of a supplier that has chosen to automate its welding operations, the implications and determinants of this decision.

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“…In this paper, we consider this problem for robotic manipulation in domains where the system comes to rest at each time step. This problem setting is inherent in many manipulation tasks in industrial and surgical settings with position control and has become increasingly important in automation [7], [25], [20].…”

Section: Introductionmentioning

confidence: 99%

Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations

Laskey

Fox

Goldberg

2018

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)

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Learning from human demonstrations can facilitate automation but is risky because the execution of the learned policy might lead to collisions and other failures. Adding explicit constraints to avoid unsafe states is generally not possible when the state representations are complex. Furthermore, enforcing these constraints during execution of the learned policy can be challenging in environments where dynamics are difficult to model such as push mechanics in grasping. In this paper, we propose Derivative-Free Recovery (DFR), a two-phase method for generating robust policies from demonstrations in robotic manipulation tasks where the system comes to rest at each time step. In the first phase, we use support estimation of supervisor demonstrations and treat the support as implicit constraints on states. We also propose a time-varying modification for sequential tasks. In the second phase, we use this support estimate to derive a switching policy that employs the learned policy in the interior of the support and switches to a recovery policy to steer the robot away from the boundary of the support if it drifts too close. We present additional conditions, which linearly bound the difference in state at each time step by the magnitude of control, allowing us to prove that the robot will not violate the constraints using the recovery policy. A simulated pushing task in MuJoCo suggests that DFR can reduce collisions by 83%. On a physical line tracking task using a da Vinci Surgical Robot and a moving Stewart platform, DFR reduced collisions by 84%.

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Easy robot programming concepts: An industrial perspective

Cited by 49 publications

References 6 publications

From High-Level Task Descriptions to Executable Robot Code

From High-Level Task Descriptions to Executable Robot Code

Implications of automation in engineer-to-order production: a case study

Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations

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