This paper aims to introduce a generic robot‐programming paradigm for assembly tasks that overcomes the strong coupling between the motion commands and underlying algorithms of programming languages currently on the market. Therefore, it allows an improved method of assembly task programming.
A manipulation primitive (MP) is defined which decouples the programming concept from the algorithms. These primitives can be integrated into existing programming languages and are supported by an intuitive graph‐based language which is introduced in this paper. An open reference architecture to support those primitive‐based programming languages has been designed.
It is possible to describe complex assembly tasks such as manipulation on conveyors or sensor‐integrated compliant motion without abandoning the generality of the programming paradigm. Execution on a reference control system has proven to be successful for several manipulation tasks on different machines.
A complete definition of the MP and a graphical language based on this primitive is given, accompanied by extensive detail information on crucial aspects of the control architecture such as modular trajectory generation, generic interfaces, and real‐time task scheduling.
