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• W2755200026 abstract "We present our successful efforts to improve intuitive programming of synchronized dual-arm operations in industrialrobotic assembly tasks. To this end we extend an earlier proposed skill representation (based on our work with ontologies for industrial robots) and our respective programminginterface to integrate options for the specification, adaptationand refinement of synchronization points, synchronized motions and master-slave relations during program parts. Ourapproach supports the user by handling motion constraintsand geometrical transformations necessary for refinement andtransfer of program sequences between arms implicitly. Inturn, the knowledge necessary to describe and represent therespective operations for later re-use and refinement is madeexplicit and can hence be captured in our skill representation.We report on two experiments confirming the applicabilityand efficiency of our approach. (Less)" @default.
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• W2755200026 date "2017-09-01" @default.
• W2755200026 modified "2023-09-23" @default.
• W2755200026 title "Knowledge for Synchronized Dual-Arm Robot Programming" @default.
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