Human-Machine Interaction for Intuitive Programming of Assembly Tasks in Construction

作     者：Sven Stumm Johannes Braumann Sigrid Brell-Cokcan 

作者机构：Individualized Production RWTH Aachen University 52062 Aachen Germany Usg Linz 4040 Linz Austria Association for Robots in Architecture 1060 Vienna Austria 

出 版 物：《Procedia CIRP》 

年 卷 期：2016年第44卷

页      面：269-274页

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

主　　题：Robot programming Skill based programming Visual programming CAD based programming Gesture recognition Construction 

摘      要：A variety of robot programming techniques exists ranging from constraint based over skill based programming to learning by demonstration. In order to extend their applicability propose to join some of these approaches. We therefore combine visual CAD based programming with skill based programming through demonstration. This constitutes the basis of the outlines strategy. We then employ human feedback through hand gestures for incremental parameter modification. We propose this approach in order to potentially lower times to production for new products and allow efficient use of robotics in low lot-sizes especially in the context of assembly for construction.