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.
@article{arxiv.2603.00555,
title = {Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger},
author = {Andreas Gaugenrieder and Hari Hara Balasubramaniam and Jannik Möhrle and Rüdiger Daub},
journal= {arXiv preprint arXiv:2603.00555},
year = {2026}
}
Comments
6 pages, 3 figures, 2 tables, submitted to the 19th CIRP Conference on Intelligent Computation in Manufacturing Engineering - CIRP ICME '25, 16-18 July 2025, Ischia (Naples), Italy, has been officially accepted for publication in Procedia CIRP, ISSN: 2212-8271, where the Elsevier's copyright policy applies, and is currently in print