Enabling technologies influence our everyday life. robot manipulators are prominent examples in the industrial realm. They carry out repetitive production tasks with repeatable accuracy at high speed for a wide range ...
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Virtual Reality is an evolving technology being adopted by Manufacturing in areas (such as operator training, and the virtual testing of new products before manufacture), where it is now becoming a widely accepted ind...
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Virtual Reality is an evolving technology being adopted by Manufacturing in areas (such as operator training, and the virtual testing of new products before manufacture), where it is now becoming a widely accepted industrial tool. Of particular note are applications in off-line programming of robots. However, before this concept finds acceptance in industry, countless problems need to be resolved. Several problems are addressed within this paper, including the requirement of an acceptable interaction device, and the subject of haptic and tactile feedback. As manufacturing continually moves to become a more responsive environment, with products having shorter life cycles and batch quantities reducing in size, robot programming times become critical, and hence an area to be addressed in order to seek improved productivity. Off-line programming is one approach, where for example off-line programming within a virtual environment could reduce the required skill levels of a programmer, reduce the programming times, allow the operator a 'natural' interface with which the operator would conduct the task in the real world, and reduce the boredom factor. This paper discusses the development of a new approach or method for the off-line programming of robotic devices, indicating some of the potential applications, and highlighting some of the restricting limitations that need to be overcome. The paper also includes a review of previous published work on the off-line programming of robots using VR.
Concurrency makes robot programming challenging even for professional programmers, yet it is essential for rich, interactive social robot behaviors. Visual programming aims to lower the barrier for robot programming b...
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In this paper we introduce the robot development environment (RDE) Ar-marX. The goal of ArmarX is to ease the development of higher level capabilities for complex robotic systems. ArmarX is built upon the idea that co...
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Industrial robotic arms are increasingly present in digital fabrication workflows due to their robustness, degrees of freedom, and potentially large scale. However, the range of possibilities they provide is limited b...
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作者：
Duhaut, D.Monacelli, E.
tour 66 Universite P. et M. Curie 4 Place Jussieu Paris Cedex 0575252 France
In this paper we present the IAda language developed for robot programming. This language is interpreted, to allow dynamic configuration, it is also concurrent, to permit the programming of multi-robots, it includes a...
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In this paper we propose a way to perform robotic selfrecognition in static and quasi-static environments, self-recognition is a process during which the robot discovers the effects of its own actions on the environme...
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The Tekkotsu "crew" is a collection of interacting sof tware components designed to relieve a programmer of much of the burden of specifying low-level robot behaviors. Using this abstract approach to robot p...
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In this paper, we propose a simple and easy method for robot teaching. It is based on ¿teaching-by-showing¿ technique with a structured light approach. In this method, the first step of the teaching procedur...
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In this paper, we propose a simple and easy method for robot teaching. It is based on ¿teaching-by-showing¿ technique with a structured light approach. In this method, the first step of the teaching procedure is the camera and projector calibration. The second step is a demonstration of manipulation of an object by a human operator in front of the robot with random pattern projection. The third step is obtaining range images of the object with the help of the projected pattern, and calculating the position and orientation of the object from the range images. In this way, we can obtain the demonstrated path of the object and a robot motion to reproduce it. We examined the accuracy of range images and obtained positions and orientations of the object. In teaching experiments, the robot reproduced a path demonstrated by a human operator successfully by using our proposed method.
We present instructional materials to teach bio-medical engineering students about the design and control of a capsule robot operating in the human's GI tract. A design example to conceptually build such a micro-r...
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