用可参数化的机器人技能库，实现快速柔性自动化编程。
Programming of Skill-based Robots
- 构建高阶可参数化机器人技能库，支持快速任务编程。
- 通过产品CAD模型或传感器追踪实机，生成中立上下文的控制指令。
- 适合需要快速切换产线的智能制造场景，提升柔性生产效率。
制造业面临不断变化的市场需求，创新周期加快，对敏捷性和灵活性的要求日益提高。工业4.0正推动制造向数字化自动化转型，软件的重要性显著上升。在机器人-传感器系统中实现简便快速的任务编程与执行，已成为敏捷柔性自动化的前提。本文提出一种解决方案：基于机器人技能库，为用户提供高层级、可参数化的操作（即机器人技能），用于任务编程与执行。编程过程生成与具体产品无关的控制配方，可通过产品CAD模型或结合指针与追踪传感器协同使用真实部件实现。实际测试验证了该方法的可行性。
原文摘要 · Abstract (English)
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the importance of software has increased drastically. Easy and fast task programming and execution in robot - sensor systems become a prerequisite for agile and flexible automation and in this paper, we propose such a system. Our solution relies on a robot skill library, which provides the user with high level and parametrized operations, i.e., robot skills, for task programming and execution. Programming actions results to a control recipe in a neutral product context and is based on use of product CAD models or alternatively collaborative use of pointers and tracking sensor with real parts. Practical tests are also reported to show the feasibility of our approach.
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