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We present a framework for an adaptive system capable of automatically optimizing a given sensor-based program for an industrial robot to facilitate the development of fast and robust applications. We present a systematic overview of the layers of the robot controller in which a speed-up may be gained by incorporating adaptation techniques. We then measure(More)
The aim of this paper is to enable a programmer to easily employ external sensors for flexible robot manipulation. We describe a general approach to determine the relation between the position deviation of an object and the resulting data from sensors used to recognize this deviation. This information can be used to employ adaptation techniques to(More)
The aim of this paper is to enable a developer to easily employ external sensors for flexible robot manipulation in industrial applications. We outline a general approach to supervise robot tasks for workpiece drifts using external sensors. We describe two methods to detect workpiece drift independent from the type of sensor. Based on this, we explain(More)
The aim of this work is to show that robots can be improved using knowledge present or gained in previous executions of the task. Here, this knowledge is used to create search paths tailored to the problem at hand. We describe two approaches to create such paths automatically which enable robots to find an unknown position faster than standard paths. The(More)
Introduction In assembly, objects have to be brought in contact with other objects. In order to deal with the imprecisions in the geometry of the mating objects and in the manipulating system, a lot of research concentrates on describing assembly tasks using contact states and on finding corresponding algorithms to detect contact state transitions or even(More)
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