Human-robot interaction issues, especially for industrial robots, have largely been confined to finding better ways to reconfigure or program the robots. In this paper, an Augmented Reality based robot programming (RP...
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Human-robot interaction issues, especially for industrial robots, have largely been confined to finding better ways to reconfigure or program the robots. In this paper, an Augmented Reality based robot programming (RPAR-II) system is proposed. A virtual robot, which is a replicate of a real robot, is used in a real environment to perform and simulate the robot trajectory planning process. The RPAR-II system assists the users during the robot programming process from task planning to execution. Stereo vision-based methodologies for virtual objects registration as well as interactive device position tracking are employed in this system. Practical issues concerning the system implementation are discussed.
The goal of the Interactive Multi-Modal robot programming system is a comprehensive human-machine interface that allows non-experts to compose robot programs conveniently. Two key characteristics of this novel program...
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This paper proposes a new language that can be used to build high-level robot controllers with high-level cognitive functions such as plan specification, plan generation, plan execution, perception, goal formulation, ...
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robot systems are an archetype of complex process control systems where valid production programs may have any number (>2) of process commands which are difficult to optimize with classical methods. robot trajector...
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robot systems are an archetype of complex process control systems where valid production programs may have any number (>2) of process commands which are difficult to optimize with classical methods. robot trajectories can be programmed automatically by a genetic algorithm, providing the algorithm will consider the order and varying lengths of trajectories. A genetic, adaptive, heuristic algorithm which is designed to optimize robot trajectories is described. Though the model presented is a general model for redundant structures and could represent any n-link structures, it was applied to a 3-link structure. The performance of the genetic algorithm shows characteristic improvements when compared with that of a hill-climb and random search algorithm.< >
The teaching of programming is an important issue related to Educational robotics whereas in many cases students have different levels of knowledge in programming. Since several robots have a specific programming lang...
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ISBN:
(数字)9781728142685
ISBN:
(纸本)9781728142692
The teaching of programming is an important issue related to Educational robotics whereas in many cases students have different levels of knowledge in programming. Since several robots have a specific programming language, some students are excluded from the class due to their poor knowledge in the area. This paper presents the possibility of abstraction in the programming complexity by making use of the web environment multi-platform W-Educ. The presented approach allows different groups of users to perform the same activity making use of different resources.
Today's industrial robots require that human operators teach motions in advance. However, conventional methods for robot programming need deep knowledge and skills about robots or great effort for inputting inform...
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Today's industrial robots require that human operators teach motions in advance. However, conventional methods for robot programming need deep knowledge and skills about robots or great effort for inputting information of working environment into computers. Therefore, a robot programming method in which everyone can easily teach robots “good” motions is demanded. For this purpose, our group proposed a robot programming method that uses manual volume sweeping by operators and automatic motion planning together to generate motion plans with short cycle times. Because a swept volume is the space through which the robot has passed without collision, it is movable space of the robot that can be used in motion planning. In this paper, we proposed using augmented reality in this programming method. We constructed a system in which operators can perceive obtained swept volumes and generated paths intuitively through augmented reality. Teaching experiments showed that non-skilled operators can make a robot move in shorter time than teaching/playback by direct teaching.
Increasingly, personalised robots - robots especially designed and programmed for an individual's needs and preferences - are being used to support humans in their daily lives, most notably in the area of service ...
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Increasingly, personalised robots - robots especially designed and programmed for an individual's needs and preferences - are being used to support humans in their daily lives, most notably in the area of service robotics. Arguably, the closer the robot is programmed to the individual's needs, the more useful it is, and we believe that giving people the opportunity to program their own robots, rather than programmingrobots for them, will push robotics research one step further in the personalised robotics field. However, traditional robot programming techniques require specialised technical skills from different disciplines and it is not reasonable to expect end-users to have these skills. In this paper, we therefore present a new method of obtaining robot control code - programming by demonstration through system identification - which algorithmically and automatically transfers human behaviours into robot control code, using transparent, analysable mathematical functions. Besides providing a simple means of generating perception-action mappings, they have the additional advantage that can also be used to form hypotheses and theoretical analysis of robot behaviour. We demonstrate the viability of this approach by teaching a Scitos G5 mobile robot to achieve wall following and corridor passing behaviours.
Presents a framework for robot programming by human demonstration. The framework builds a high level robot controller using information extracted from the demonstration. The high level robot controller is broken down ...
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Presents a framework for robot programming by human demonstration. The framework builds a high level robot controller using information extracted from the demonstration. The high level robot controller is broken down into three component parts, each fulfilling a different function during execution. The paper focuses on the construction of an event path planner, which determines the optimal event path of a task. The approach varies the optimal path according to what characteristics of the demonstrations are stressed, thus giving the robot a selected disposition. The approach was implemented on a simple navigational task. The event path planner selected appropriate paths and could change its selection according to what characteristics were desired in the selected path.
programming by human demonstration is an intuitive method of robot programming, in which the programmer demonstrates how a task is performed using a human/robot teaching device that measures human motion, and the data...
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programming by human demonstration is an intuitive method of robot programming, in which the programmer demonstrates how a task is performed using a human/robot teaching device that measures human motion, and the data gathered is used to generate the robot program. A direct duplication of the demonstrated trajectory would result in unnecessary robot motion due to human "wiggles" and unintended motion. To identify a more satisfactory robot trajectory, a method is presented that uses multiple demonstrations of the same task. Variation in human trajectories between trials is attributed to human inconsistency and is used to define an obstacle free region, by applying the Jordan curve theorem. The shortest path within the obstacle free region is determined, resulting in a shorter robot path than any of the demonstrations. Thus the presence of human inconsistency is used to improve robot performance. The analysis is restricted to planar translational motion.< >
On the basis of the ISO standardization activity in the field of the industrial applications of programming languages, this work describes the current state of the activity, and deals with the most important character...
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On the basis of the ISO standardization activity in the field of the industrial applications of programming languages, this work describes the current state of the activity, and deals with the most important characteristics of these languages, pointing out their advantages and applicational limits. Some possible orientations for the development of this activity are discussed.
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