PiTaSC

Pitasc is a robot-agnostic modular software system that enables robotic assembly based on live sensor data. Especially tactile assembly is targeted, i.e. assembly using a combination of applied forces and motions. Within the LIAA ecosystem, pitasc can be seen as a set of encapsulated skills, extending the overall capabilities of the skill library. Outside LIAA, it can be used as a standalone add-on technology package, providing assembly capabilities to any robot. Pitasc combines skill-oriented programming for understandable and reusable orchestration and constrained-based robot programming for kinematic-agnostic execution of sensor-based robot motion.