pitasc
pitasc is a robot control software mainly intended for force-controlled assembly using collaborative and industrial robots. It has been utilized to solve numerous real-world applications. Some notable examples are the assembly of plastic components as well as riveting, screwing and clipping applications. pitasc also allows for rapid reconfigurability of flexible robot cells and the coordinated control of two robot arms, e.g. for the automated wiring of electrical cabinets.
pitasc follows a skill-based programming approach, i.e. robot programs are not programmed in a certain, possibly vendor-specific, programming language. Instead, the developer arranges and parameterizes so called skills. Skills can either involve simple commands like LIN and PTP movements or they can model more complex behaviour, possibly consisting of concurrent position and force control in different task space dimensions. Real-world applications like the examples above usually necessitate these more sophisticated skills.