用PLC实现机器人技能动作序列优化，提升执行效率
Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger
- 将运动序列优化融入技能编程，生成新动作指令MoveContinuousSkill
- 实测在多机器人系统中显著缩短执行时间
- 基于PLC的软件实现，适合工业场景快速部署
基于技能的机器人编程为自动化提供了灵活方案。现有方法忽视动作序列优化，导致执行效率低下。本文提出一种规划方法，通过整合运动序列优化，提升了技能编程的效率，由此产生新的移动连续技能指令MoveContinuousSkill。该指令的软件实现基于可编程逻辑控制器（PLC），并应用于多个机器人系统。实验结果表明，优化后的运动序列显著缩短了执行时间。
原文摘要 · Abstract (English)
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.
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