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Maintenance Automation: Methods for Robotics Manipulation Planning and Execution

DOI:10.1109/TASE.2022.3175631
Authors:
Christian Friedrich at Karlsruhe University of Applied Sciences
Christian Friedrich
Ralf Gulde at Universität Stuttgart
Ralf Gulde
Armin Lechler at Universität Stuttgart
Armin Lechler
Alexander Wilhelm Verl at Universität Stuttgart
Alexander Wilhelm Verl
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Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under environmental uncertainties (e.g. deviations between prior plan information). The cognition of the robotic system is based on a planning approach (using CAD and RGBD data) and includes a method to interpret a symbolic plan and transform it to a set of executable robot instructions. The complete system is experimentally evaluated using real-world applications. This work shows the first step to transfer these theoretical results into a practical robotic solution.
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