The task frame formalism allows the programmer to overcome the drawbacks of the traditional robot oriented assembly programming, moving the programmer’s focus on the robot task. Additionally skill primitives contribute to a more natural programming paradigm. In this paper a robot control architecture is presented that implements both of these concepts providing a framework to easily implement n...

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, new method related to the master-slave approach introduced, master replaced by digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables rendering any programmed robot with serial manipulator on general-purpose interface. results s...

The paper focuses on specification and utilization of manipulation skills to facilitate programming of bimanual manipulation tasks. Manipulation skills are actions to reach predefined goals. They constitute an interface between lowlevel constraint-based task specification and high level symbolic task planning. The task of the robot can be decomposed into subtasks that can be resolved using mani...

We propose the so-called TeleSensorProgramming concept that uses sensory perception to achieve local autonomy in robotic manipulation. Sensor-based robot tasks are used to define elemental moves within a high level programming environment. This approach is applicable in both, the real robot’s world and the simulated one, i.e. in a virtual environment. Beside the graphical off-line programming c...

This paper presents a new economical solution of robot control system for different sophisticated robot applications. The control system is based on PC controlled servo motor control card and an intelligent control software, which has been developed using high level graphical programming language (LabVIEW). The basic development is an interface software for making connection between the control...

Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods. In the research project SoftRobot, a software architecture was developed that enables the programming of complex real-time critical robot tasks with an object...

The paper presents a formalized approach to designing the structure of a controller and its programming method for a multi-robot system equipped with diverse external sensors. It shows that it is sufficient to extend a universal programming language by a single robot specific instruction to program such a system. Although, a single complex instruction would suffice, it is much more convenient t...