Plug-and-Produce Technologies - On the Use of Statecharts for the Orchestration of Service Oriented Industrial Robotic Cells

Abstract

Programming industrial robotic workcells is a challenging task, namely because it means dealing with several types of machines, mange the data flow between them and orchestrate their basic functionality into a working program. In this work service oriented architectures are used for the task of programming robotic workcells along with managing the communication between cell components, and a statechart model engine is implemented to orchestrate the system logic. The objective of this paper is to focus in merging service oriented architectures with StateCharts XML, and in evaluating that robotic workcell programming approach using a simple laboratory test bed.