A Configurable Skill Oriented Architecture Based on OPC UA
Jorge Blesa Gracia, Felix Leber, Mohamed Aburaia, Wilfried Wöber
Abstract
Over the last years, research done in automation and industrial robotics has established the foundations for skill-oriented systems based on the OPC UA standard. Nevertheless, utilizing these advances in other areas of robotics research can be challenging and time consuming. We present a framework aiming to reduce this entry threshold. Our solution is an open source, easy to configure tool based on OPC UA, that provides with a hardware agnostic, skill-oriented, event driven interface to systems. The framework allows integrating external hardware and software by means of plugins. It also provides a mechanism for endowing skills with hardware agnostic motion control. We demonstrate how our framework can be combined with state of the art approaches to control in a simulated assembly task with multiple robots, conveyors, actuators and sensors involved.
BibTeX
@inproceedings{iros2022_aconfigurableski,
title = {A Configurable Skill Oriented Architecture Based on OPC UA},
author = {Jorge Blesa Gracia and Felix Leber and Mohamed Aburaia and Wilfried Wöber},
booktitle = {IROS 2022},
year = {2022}
}