Development and evaluation of a Skill Based Architecture for applied industrial robotics

This paper presents and evaluates a Skill Based Architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work try to quantify the advantages of the proposed paradigm based in different indicators. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain. A real operation, drilling deburring of composite parts, has been selected as use case for evaluation.