In flexible manufacturing settings, automation is shaped by ever changing conditions (e.g. varying part feeding locations, highly customizable products). Quick adaptation of robot systems is mostly achieved by visual end-user robot (re-)programming. In this paper, we discuss the explicit integration of anticipated product and process variety into visually programmed tasks. We contribute a task model which captures a user-defined range of task variants. To this end, parts are specified in terms of approximate locations and generalized parts families. Workspace exploration and combinatorial assignment planning enable online adaptation to unknown environments. Our experiments show that this adaptation capability can increase the economical efficiency of cobot use.


    Access

    Download


    Export, share and cite



    Title :

    Visual Programming of Robot Tasks with Product and Process Variety



    Conference:

    MHI Colloquium ; 2022 ; Karlsruhe, Germany July 20, 2022 - July 21, 2022



    Publication date :

    2023-07-11


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Collaborative Programming of Conditional Robot Tasks

    Willibald, Christoph / Eiband, Thomas / Lee, Dongheui | German Aerospace Center (DLR) | 2020

    Free access

    Visualization of Forces and Torques for Robot-Programming of In-Contact Tasks

    Hartwig, Johannes / Fischer, Sabine / Henrich, Dominik | Springer Verlag | 2025

    Free access



    How product platforms produce variety

    Fösel, Ulrich / Rappe, Jutta | IuD Bahn | 2009