用面向对象编程简化机器人技能开发，降低企业使用门槛。
Enabling Generic Robot Skill Implementation Using Object Oriented Programming
- 通过抽象层统一不同品牌机器人的接口
- 基于Python实现原型，支持Yaskawa GP4机器人
- 适合缺乏机器人经验的企业与研究者快速部署
开发机器人算法并将其集成到更大系统中常面临挑战，尤其在缺乏机器人专业知识的中小型企业中。许多公司依赖外部系统集成商，易导致供应商锁定和外部依赖。学术界在智能制造系统研究中也面临类似问题：研究人员希望将机器人作为智能系统组件使用，却需应对复杂多样的机器人接口。本文提出一种软件框架，旨在简化现代机器人系统的不同接口，通过抽象层统一多厂商、多型号设备的接入方式。采用Python实现原型系统，目标为包含Yaskawa Motoman GP4的料箱抓取单元。该框架显著降低部署机器人系统的开发难度。
原文摘要 · Abstract (English)
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and developing robotic systems can be a challenge. As a result, many companies rely on external expertise through system integrators, which, in some cases, can lead to vendor lock-in and external dependency. In the academic research on intelligent manufacturing systems, robots play a critical role in the design of robust autonomous systems. Similar challenges are faced by researchers who want to use robotic systems as a component in a larger smart system, without having to deal with the complexity and vastness of the robot interfaces in detail. In this paper, we propose a software framework that reduces the effort required to deploy a working robotic system. The focus is solely on providing a concept for simplifying the different interfaces of a modern robot system and using an abstraction layer for different manufacturers and models. The Python programming language is used to implement a prototype of the concept. The target system is a bin-picking cell containing a Yaskawa Motoman GP4.
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