Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866914361193267200 |
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| author | Gaugenrieder, Andreas Balasubramaniam, Hari Hara Möhrle, Jannik Daub, Rüdiger |
| author_facet | Gaugenrieder, Andreas Balasubramaniam, Hari Hara Möhrle, Jannik Daub, Rüdiger |
| contents | Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances skill-based robot programming by integrating motion sequence optimization. This optimization leads to a new MoveContinuousSkill. The software for executing the MoveContinuousSkill is implemented on a Programmable Logic Controller and applied across multiple robotic systems. Experimental results demonstrate a significant improvement in execution time through optimized motion sequence. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_00555 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger Gaugenrieder, Andreas Balasubramaniam, Hari Hara Möhrle, Jannik Daub, Rüdiger Robotics C.3; I.2.9 Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances skill-based robot programming by integrating motion sequence optimization. This optimization leads to a new MoveContinuousSkill. The software for executing the MoveContinuousSkill is implemented on a Programmable Logic Controller and applied across multiple robotic systems. Experimental results demonstrate a significant improvement in execution time through optimized motion sequence. |
| title | Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger |
| topic | Robotics C.3; I.2.9 |
| url | https://arxiv.org/abs/2603.00555 |