A Methodology for Approaching the Integration of Complex Robotics Systems: Illustration Through a Bimanual Manipulation Case Study

摘要

The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community-accepted guidelines or standards that define the integration of such components in a single robotic system. In this article, we propose a methodology that assesses the software components of a candidate system on the basis of the effort required to integrate them and the impact their integration will have on a target system. We demonstrate how this methodology can be applied using an industrial tool packing system as an example.