Classic off- and online programming approaches offer different advantages but cannot provide intuitive programming as it would be needed for frequent reconfiguration of industrial robotic cells and their programs. Whi...
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ISBN:
(纸本)9781728103037
Classic off- and online programming approaches offer different advantages but cannot provide intuitive programming as it would be needed for frequent reconfiguration of industrial robotic cells and their programs. While a simulation and therewith a collision control can be used offline, highest precision can be achieved by using online teach-in. We propose a system that combines the advantages of both offline and online programming. By creating a programming framework that is independent of in- and output devices we allow the use of augmented as well as virtual reality. Thus, enabling the user to choose for a programming technique that best suits his needs during different stages of programming. Bringing together both methods allows us to not only drastically reduce programming time but simultaneously increase intuitiveness of human robot interaction.
This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of...
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ISBN:
(纸本)9783319188331;9783319188324
This paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.
Agile manufacturing paradigms have revolutionized a new era of production processes, offering unparalleled flexibility and adaptability to the ever-changing landscape of product variations and smaller batch sizes. In ...
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ISBN:
(纸本)9798350362367;9798350362374
Agile manufacturing paradigms have revolutionized a new era of production processes, offering unparalleled flexibility and adaptability to the ever-changing landscape of product variations and smaller batch sizes. In response to this dynamic environment, the robotic industry has undergone a significant transformation, presenting a range of versatile robotic systems capable of swiftly deploying diverse applications. This transformative shift accelerates manufacturing processes and showcases the ability to accommodate product specifications and batch size variations. Welding is a notable example of robotics playing a crucial role in agile production. This work presents a novel approach combining no-code robot programming and an intelligent vision-based welding system. By leveraging this framework, even non-expert users can seamlessly instruct welding trajectories through intuitive interactions. These trajectories are meticulously crafted using advanced welding seam extraction algorithms, considering various welding joint types and inputs from heterogeneous sensors. Consequently, robot-specific parameters can be parametrized, and the generated robot code can seamlessly translate into robotic movements in the real world. Validation of this approach through real-world experiments underscores its potential for deployment in agile welding applications. The promising results affirm this novel methodology's efficacy, paving the way for its practical implementation in real-world scenarios. By effectively bridging the divide between advanced robotics and agile manufacturing, this approach can potentially elevate industrial robotic applications to new levels of efficiency and adaptability.
Within the last years the programming by Demonstration (PbD) programming methodology gained more and more attention in robotics. However, a high quality way of Human-robot Interaction is crucial for a successful appli...
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ISBN:
(纸本)0818681381
Within the last years the programming by Demonstration (PbD) programming methodology gained more and more attention in robotics. However, a high quality way of Human-robot Interaction is crucial for a successful application of the PbD methodology in robotics. Hypotheses derived from the programming system, and control knowledge included in a generated robot program has to be checked back with and to be verified by the user in, order to avoid potentially harmful errors that lead to faulty code. This paper describes a method for User-robot Interaction that a's based on 3D-Icons and supports and facilitates the programming process in a robot programming by Demonstration system significantly.
Cobots (collaborative robots) are revolutionising industries by allowing robots to work in close collaboration with humans. But many companies hesitate their adoption, due to the lack of programming experts. In this w...
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ISBN:
(纸本)9781538635186
Cobots (collaborative robots) are revolutionising industries by allowing robots to work in close collaboration with humans. But many companies hesitate their adoption, due to the lack of programming experts. In this work, we evaluate a robot programming framework for non-expert users, that requires users to teach action models expressed in a symbolic planning language (PDDL). These action models would allow the robot to leverage modern automated planners to achieve any user defined goal. We conducted qualitative user experiments with a Baxter robot to evaluate the non-expert user's understanding of the symbolic planning language and the usability of the framework. We showed that users with little to no programming experience can adopt the symbolic planning language, and use the framework.
Search algorithms such as Rapidly-exploring Random Trees (RRTs) are common in robot programming. Including graphical representations of the output of these algorithms in a robotics framework can make the algorithms mo...
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programmingrobots can be a time consuming and demanding task requiring a high degree of technical skills. Experienced operators have knowledge about programmingrobots and the specific application including robot kin...
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ISBN:
(纸本)0780370872
programmingrobots can be a time consuming and demanding task requiring a high degree of technical skills. Experienced operators have knowledge about programmingrobots and the specific application including robot kinematics. Such knowledge is irreplaceable and cannot easily be substituted by a computer. The operator and the computer as a whole make up a cognitive system with different strength. Operators pro-ramming robots mainly work at the knowledge-based level of behaviour. Trials of a robot programming concept based on advanced man-machine interaction have proven the concept of utilising the operators'. knowledge about the robot application. The concept describes the first step of integrating the operator, as the robot programmer, in the programming process.
Classical robot-programming approaches often require the definition of rigid sequences of elementary motions and actions by expert robot programmers through coding. Such solutions are suitable for environments that ar...
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ISBN:
(纸本)9798350373981;9798350373974
Classical robot-programming approaches often require the definition of rigid sequences of elementary motions and actions by expert robot programmers through coding. Such solutions are suitable for environments that are more structured and less dynamic with respect to construction ones. We propose a different approach with a novel software architecture that exploits Building Information Modelling (BIM) data for facilitating robot-programming and deployment in construction. It includes mission parametrization and customization tools that abstract elementary robot functionality in terms of behaviors, that can be easily understood, assembled, and adapted on-site by non-expert programmers. We verify the effectiveness of our proposed approach by considering the execution of a spray-painting use-case for interior walls and a usability study.
The use of welding robots as a tool of the worker in the workshop of small and medium sized enterprises is a challenging task which has not really been solved nowadays. A national research project entitled "Impro...
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ISBN:
(纸本)0780345037
The use of welding robots as a tool of the worker in the workshop of small and medium sized enterprises is a challenging task which has not really been solved nowadays. A national research project entitled "Improved user-orientated programming of industrial robots" funded by the German BMBF (German Ministry of Research) tried to find solutions in this field. As basis new production concepts which emphasise human skills in relation to pure technical orientated solutions were developed and discussed. In a next step new hardware and software components were developed in order to give the worker the ability to interact in an easy way with the robot and to realise his production procedures in an optimised way. For example software tools for the preparation of the welding task (measurement of the tool centre point (TCP), cleaning of the nozzle), the programming of the robot (PC based off-line programming system, virtual programming device), optimisation of the welding process with respect to the practical experience of the welder (interactive welding shield with hand wheel functions) and process control were designed. In this paper some results developed at APS Mechatronik within the project will be discussed.
Tactile surface sensors (TSSs) are often utilized for contact management in human robot interaction scenarios. To provide added value in these applications, online robot programming approaches may exploit TSSs as gest...
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ISBN:
(纸本)9781538626825
Tactile surface sensors (TSSs) are often utilized for contact management in human robot interaction scenarios. To provide added value in these applications, online robot programming approaches may exploit TSSs as gesture input devices. To this end, we introduce an invariant, compact gesture representation which facilitates robust and efficient online gesture recognition even for very small training data sets. The proposed two-stage recognition approach permits reliable gesture classification as well as convenient parameter extraction in the presence of typical disturbances affecting TSSs attached to manipulator links. Our experimental results demonstrate the remarkable recognition performance of the proposed approach using a set of 16 gestures and data of up to 31 subjects.
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