A lead-through robot programming solution with a 6-DOF motion tracking device is presented. The motion tracking device is flexible-linked and can be fixed on the end-effector of a robot to realize lead-through teachin...
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ISBN:
(纸本)9781424447749
A lead-through robot programming solution with a 6-DOF motion tracking device is presented. The motion tracking device is flexible-linked and can be fixed on the end-effector of a robot to realize lead-through teaching. The programming solution covers data acquiring from the six string sensors of the motion tracking device, data processing, kinematical calculation which converts the sensor signals to the motion tracking device pose, motion planning which generates robot jogging command based on poses of the tracking device and the robot, path recording, smoothing and final robot program generating which takes the recorded path as the input thus a robot can repeat the taught path. A prototype has been built up to verify the programming solution with sound results. With the prototype, different teaching modes can be applied to adapt to different teaching requirements and different application areas.
This paper presents a general and robust approach to hand action perception for automatic robot programming using depth image sequences. The human instructor must simply demonstrate an assembly task in front of a visi...
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ISBN:
(纸本)0780332148
This paper presents a general and robust approach to hand action perception for automatic robot programming using depth image sequences. The human instructor must simply demonstrate an assembly task in front of a vision system in the human world, no dataglove or special markings are necessary. The recorded image sequences are used to recover a depth image sequence for model-based human hand and object tracking to form the perceptual data stream. The data stream is then segmented and interpreted for generating a task sequence which describes the human hand action and the relationship between the manipulated object and the hand. The task sequence might be composed of a series of subtasks and each subtask involves four phases. approaching, pre-manipulating, manipulating and departing. In this paper we also discuss a robot system that replicates the ob sewed task and automatically validates the replication results in the robot world.
End-user programming for robots is becoming an increasingly important topic since robots are being introduced into a wide variety of domains. We propose a design of a web based programming interface that makes it poss...
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ISBN:
(纸本)9781509039296
End-user programming for robots is becoming an increasingly important topic since robots are being introduced into a wide variety of domains. We propose a design of a web based programming interface that makes it possible for end-users with different backgrounds to program robots using natural language. We used the cognitive dimensions framework to compare the usability of the newly created and the currently employed programming interfaces. The results showed that domain specialists are able to make robot programs more quickly and pleasantly with the proposed interface than with an existing one. Another important finding is that without physical simulation of the robot behaviours, the end-users do not feel confident enough to develop their scenarios in a realistic setting.
In this paper, we propose a robot programming method for industrial manipulators. It enables novice human operators to teach "good" robot motions in a short period of time. First in this method, a human oper...
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ISBN:
(纸本)9781424416462
In this paper, we propose a robot programming method for industrial manipulators. It enables novice human operators to teach "good" robot motions in a short period of time. First in this method, a human operator makes a robot manipulator sweep a volume by its bodies. The manipulator is equipped with a force sensor on its wrist and damping-controlled;the operator can move it freely by grasping its end-effector. The swept volume stands for a part of the manipulator's free space, because the manipulator has passed through the volume without collisions. Next, the obtained swept volume is used by a motion planner to generate a well-optimized path of the manipulator automatically. Finally, the planned motion is executed by the manipulator. Even non-skilled operators can generate robot motions with short cycle time by doing the above procedure. The effectiveness of our method is successfully demonstrated in teaching experiments for a comparison with other conventional methods.
Skill-based programming has proven to be advantageous for assembly tasks, but still requires expert knowledge, especially for force-controlled applications. However, it is error-prone due to the multitude of parameter...
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ISBN:
(纸本)9798350323658
Skill-based programming has proven to be advantageous for assembly tasks, but still requires expert knowledge, especially for force-controlled applications. However, it is error-prone due to the multitude of parameters, e.g. different coordinate frames and either position-, velocity- or force-controlled motions on the axes of a frame. We propose a mixed reality based solution, which systematically visualizes the geometric constraints of advanced high-level skills directly in the real-world robotic environment and provides a user interface to create applications efficiently and safely in mixed reality. Therefore, state-machine information is also visualized, and a holographic digital twin allows the user to ad-hoc validate the program via force-enabled simulation. The approach is evaluated on a top hat rail mounting task, proving the capability of the system to handle advanced assembly programming tasks efficiently and tangibly.
In this paper we describe our open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit. The ultimate goals of CARMEN are to lower the barrier to implementing new algorithms on real and simul...
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ISBN:
(纸本)0780378601
In this paper we describe our open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit. The ultimate goals of CARMEN are to lower the barrier to implementing new algorithms on real and simulated robots and to facilitate sharing of research and algorithms between different institutions. In order for CARMEN to be as inclusive of various research approaches as possible, we have chosen not to adopt strict software standards, but to instead focus on good design practices. This paper will outline the lessons we have learned in developing these practices.
Fusion of information from multiple sensors can greatly enhance the performance of human-machine interaction, especially in the intuitive robot programming. The methods aim to allow rapid teaching of robotic tasks in ...
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ISBN:
(纸本)9781424416752
Fusion of information from multiple sensors can greatly enhance the performance of human-machine interaction, especially in the intuitive robot programming. The methods aim to allow rapid teaching of robotic tasks in a safe and efficient manner. The techniques can reduce the setup time of a robotic system. This is crucial for SMEs (Small and Medium Enterprize) where the products in the manufacturing area are in small lot size but with high batch mix. The objective of this research is to fuse the information from a range sensor and a camera. An unique method using the surface constraint has been adopted for the calibration of the sensor fusion system. By taking the surface normal of a calibration board as the common feature, the transformation between the two coordinate systems can be formulated. The end result is a fused scene with both range and texture (color in this case) information. The range information will be used for the path generation for robotic tasks. On the other hand, the images captured by the camera together with the graphical user interface provide an user friendly interface platform for the user. As the two images have been fused, the operator can program a path for a robot to execute by 'point-and-click' on the user interface screen. Experimental results have shown that the new method of robot programming, with sensor fusion information, has improved the robotic teaching process by at least 90% as compared to the manual programming method using teaching pendant.
Flexible manufacturing lines are required to meet the demand for customized and small batch-size products. Even though state-of-the-art tactile robots may provide the versatility for increased adaptability and flexibi...
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ISBN:
(纸本)9798350384581;9798350384574
Flexible manufacturing lines are required to meet the demand for customized and small batch-size products. Even though state-of-the-art tactile robots may provide the versatility for increased adaptability and flexibility, their potential is yet to be fully exploited. To support robotics deployment in manufacturing, we propose a task-based tactile robot programming paradigm that uses an object-centric tactile skill definition that directly links identified object constraints of the task to the definition of constraint-based unified force-impedance control. In this study, we first explain the basic concept of abstracting the task constraints experienced by the object and transferring them to the robot's operational space frame. Second, using the object-centric tactile skill definition, we synthesize unified force-impedance control and formalized holonomic constraints to enable flexible task execution. Later, we propose the quantified analysis metrics for the process by analyzing them as a typical example of flexible manipulation disassembly skills, e.g., levering and unscrew-driving regarding their object requirements. Supported by realistic experimental evaluation using a Franka Emika robot, our tactile robot programming approach for the direct translation between task-level constraints and robot control parameter design is shown to be a viable solution for increased robotic deployment in flexible manufacturing lines.
It is a remarkable challenge to know the pose of an object in all six dimensions of X, Y, Z and pitch, roll and yaw. Conventional measurement (metrology) systems include mechanical metrology systems;stereo optical sys...
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ISBN:
(纸本)0780372727
It is a remarkable challenge to know the pose of an object in all six dimensions of X, Y, Z and pitch, roll and yaw. Conventional measurement (metrology) systems include mechanical metrology systems;stereo optical systems, particularly with active LED beacons, and laser interferometry systems. Systems used commercially for accurate robot calibration can cost from $100K to $250K. In. this paper a simple, low-cost method for determining pose in space is presented. The method is based on interpreting moire patterns generated by a passive target and acquired with a conventional digital camera. Experiments carried out on a Fanuc S-10 robot are reported.
As robots begin to provide daily assistance to individuals in human environments, their end-users, who do not necessarily have substantial technical training or backgrounds in robotics or programming, will ultimately ...
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ISBN:
(纸本)9781450362726
As robots begin to provide daily assistance to individuals in human environments, their end-users, who do not necessarily have substantial technical training or backgrounds in robotics or programming, will ultimately need to program and "re-task" their robots to perform a variety of custom tasks. In this work, we present PATI-a Projection-based Augmented Table-top Interface for robot programming-through which users are able to use simple, common gestures (e.g., pinch gestures) and tools (e.g., shape tools) to specify table-top manipulation tasks (e.g., pick-and-place) for a robot manipulator. PATI allows users to interact with the environment directly when providing task specifications;for example, users can utilize gestures and tools to annotate the environment with task-relevant information, such as specifying target landmarks and selecting objects of interest. We conducted a user study to compare PATI with a state-of-the-art, standard industrial method for end-user robot programming. Our results show that participants needed significantly less training time before they felt confident in using our system than they did for the industrial method. Moreover, participants were able to program a robot manipulator to complete a pick-and-place task significantly faster with PATI. This work indicates a new direction for end-user robot programming.
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