Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics

Herrero, Héctor; Outón, Jose Luis; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele

doi:10.3390/s17061249

Open AccessArticle

Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics

by

Héctor Herrero

^1,*

,

Jose Luis Outón

¹

,

Mildred Puerto

¹,

Damien Sallé

¹ and

Karmele López de Ipiña

²

¹

Tecnalia Research and Innovation, Industry and Transport Division, San Sebastián 20009, Spain

²

Department of Systems Engineering and Automation, Universidad del País Vasco/Euskal Herriko Unibertsitatea, EleKin Research Group, San Sebastián 20009, Spain

^*

Author to whom correspondence should be addressed.

Sensors 2017, 17(6), 1249; https://doi.org/10.3390/s17061249

Submission received: 1 March 2017 / Revised: 23 May 2017 / Accepted: 23 May 2017 / Published: 31 May 2017

(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2017)

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Abstract

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.

Keywords: intelligent robotics; flexibility; reusability; multisensor; state machine; software architecture; computer vision

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MDPI and ACS Style

Herrero, H.; Outón, J.L.; Puerto, M.; Sallé, D.; López de Ipiña, K. Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics. Sensors 2017, 17, 1249. https://doi.org/10.3390/s17061249

AMA Style

Herrero H, Outón JL, Puerto M, Sallé D, López de Ipiña K. Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics. Sensors. 2017; 17(6):1249. https://doi.org/10.3390/s17061249

Chicago/Turabian Style

Herrero, Héctor, Jose Luis Outón, Mildred Puerto, Damien Sallé, and Karmele López de Ipiña. 2017. "Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics" Sensors 17, no. 6: 1249. https://doi.org/10.3390/s17061249

APA Style

Herrero, H., Outón, J. L., Puerto, M., Sallé, D., & López de Ipiña, K. (2017). Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics. Sensors, 17(6), 1249. https://doi.org/10.3390/s17061249

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

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Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics

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