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arXiv · 2603.00555

Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger

Andreas Gaugenrieder·Hari Hara Balasubramaniam·Jannik Möhrle·Rüdiger Daub
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Abstract

Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances skill-based robot programming by integrating motion sequence optimization. This optimization leads to a new MoveContinuousSkill. The software for executing the MoveContinuousSkill is implemented on a Programmable Logic Controller and applied across multiple robotic systems. Experimental results demonstrate a significant improvement in execution time through optimized motion sequence.

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Andreas Gaugenrieder, Hari Hara Balasubramaniam, Jannik Möhrle, Rüdiger Daub. 2026-02-28. Planning Method for Skill-Based Control of Robots Using a PLC as Skill Trigger. https://arxiv.org/abs/2603.00555

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