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arXiv · 2508.10497

Enabling Generic Robot Skill Implementation Using Object Oriented Programming

Abdullah Farrukh·Achim Wagner·Martin Ruskowski
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Abstract

Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and developing robotic systems can be a challenge. As a result, many companies rely on external expertise through system integrators, which, in some cases, can lead to vendor lock-in and external dependency. In the academic research on intelligent manufacturing systems, robots play a critical role in the design of robust autonomous systems. Similar challenges are faced by researchers who want to use robotic systems as a component in a larger smart system, without having to deal with the complexity and vastness of the robot interfaces in detail. In this paper, we propose a software framework that reduces the effort required to deploy a working robotic system. The focus is solely on providing a concept for simplifying the different interfaces of a modern robot system and using an abstraction layer for different manufacturers and models. The Python programming language is used to implement a prototype of the concept. The target system is a bin-picking cell containing a Yaskawa Motoman GP4.

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Abdullah Farrukh, Achim Wagner, Martin Ruskowski. 2025-08-14. Enabling Generic Robot Skill Implementation Using Object Oriented Programming. https://doi.org/10.1007/978-3-032-02106-9_47

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