发表机构
VTT Technical Research Centre of Finland Ltd; Konecranes oyj.（芬兰国家技术研究中心有限公司; 科尼起重机公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对机器人制造与室内物流的挑战，开发了基于CAD模型的参数化技能编程执行系统，以改进的行为树为控制结构，通过人-机器人-起重机协同测试验证了方案有效性。
AI 中文摘要
不断变化的生产组合给机器人制造和室内物流带来了日益严峻的挑战，需要具备更强的敏捷性、灵活性和鲁棒性。机器人技能整合了运动、工具操作和传感器感知，为参数各异的多样化任务提供了一致的执行机制。本文展示了一种基于CAD模型、易于使用的参数化技能及技能监控器的编程与执行系统，其执行控制结构为动态参数化结构，基于改进的行为树（Behavior Tree），仅采用基于事件的通信。以人-机器人-起重机协同技能为测试示例：人类指挥桥式起重机和机械手，将由起重机支撑的重物在机械手引导下插入目标位置。
英文摘要
Highly varying production sets increasing challenges for robotic manufacturing and indoor logistics. New capabilities for agility, flexibility, and robustness are needed. Robot skills, integrating motions, tool operations, and sensor perceptions consistently provide an execution mechanism for a versatile set of tasks with varying parameters. In this paper, easy-to-use CAD-model based programming and execution system for parametrized skills and skill monitors is showcased. The execution control structure is dynamic and parametrized, based on a modified Behavior Tree, where only event based communication is used. A human-robot-crane collaborative skill is shown as a test example, where a human instructs an overhead crane and a manipulator in inserting a heavy object supported by the crane, and guided by the manipulator, into the goal.
Comments8 pages, 12 figures, accepted for publication in IECON 2026
