Human-robot-collaboration allows for automating production while keeping flexibility. To apply robots flexibly, the programming effort needs to be kept low. The collaboration between humans and robots brings about new...
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Advancements in robotics have gained much momentum in recent years. Industrial robotic systems are increasingly being used outside the factory floor, evident by the growing presence of service robots in personal envir...
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ISBN:
(纸本)1595935649
Advancements in robotics have gained much momentum in recent years. Industrial robotic systems are increasingly being used outside the factory floor, evident by the growing presence of service robots in personal environments. In light of these trends, there is currently a pressing need of identifying new ways of programmingrobots safely, quickly and more intuitively. These methods should focus on service robots and address long outstanding Human-robot Interaction issues in industrial robotics simultaneously. In this paper, the potential of using an Augmented Reality (AR) environment to facilitate immersive robot programming in unknown environments is explored. The benefits of an AR environment over conventional robot programming approaches are discussed, followed by a description of the robot programming using AR (RPAR) system developed in this research. New methodologies for programming two classes of robotic tasks using RPAR are proposed. A number of case studies are presented and the results discussed.
This paper presents the concept and implementation of EusLisp developed for describing 3D geometric models on which environment recognition functions and intelligent task planning are performed. Based on an idea that ...
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This paper presents the concept and implementation of EusLisp developed for describing 3D geometric models on which environment recognition functions and intelligent task planning are performed. Based on an idea that object-orientation is best suited for intelligent robot programming, object oriented functions are implmented at the basis and Lisp functionalities similar to Common Lisp are built on it. For the smooth unification of this object orientation and functional programming, constant-time type discrimination scheme in cascaded class hierarchy is implemented. Memory efficiency for variable-size memory allocation is improved by introducing the Fibonacci buddy memory management. Performance of the multi-thread parallelism with thread local memory management scheme is evaluated. The advantages of EusLisp are demonstrated by its systematic implementation of a solid modeler and two robot applications.
robotic welding demands high accuracy and ***,robot programming is often a tedious and time-consuming process that requires expert *** paper presents an augmented reality assisted robot welding task programming(ARWP)s...
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robotic welding demands high accuracy and ***,robot programming is often a tedious and time-consuming process that requires expert *** paper presents an augmented reality assisted robot welding task programming(ARWP)system using a user-friendly augmented reality(AR)interface that simplifies and speeds up the programming of robotic welding *** ARWP system makes the programming of robot welding tasks more user-friendly and reduces the need for trained programmers and expertise in specific robotic *** AR interface simplifies the definition of a welding path as well as the welding gun orientation,and the system;the system can locate the welding seam of a workpiece quickly and generate a viable welding path based on the user *** developed system is integrated with the touch-sensing capability of welding robots in order to locate the welding path accurately based on the user input,for fillet *** system is applicable to other welding processes and methods of seam *** system implementation is described and evaluated with a case study.
The authors show how knowledge can be made operational by a robot that works at the knowledge level. A qualitative model for object pushing is used within a high level robot programming system, Ropro. An example of ho...
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The authors show how knowledge can be made operational by a robot that works at the knowledge level. A qualitative model for object pushing is used within a high level robot programming system, Ropro. An example of how the planning process makes use of that knowledge at different levels of abstraction is shown. It is suggested that knowledge representation in both qualitative-symbolic and quantitative-numeric form is necessary for robotic systems.< >
In the artificial intelligence age, cultivating young children's computational thinking (CT) has sparked tremendous attention. Programmable robotics is a developmental-appropriate and screen-free means that provid...
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The simplest and most common robot training method is operator-guiding, but this method is inflexible and limited to fixed sequences. Explicit textual robot programming has enjoyed many advances in the last decade and...
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The simplest and most common robot training method is operator-guiding, but this method is inflexible and limited to fixed sequences. Explicit textual robot programming has enjoyed many advances in the last decade and current research implementations are powerful. But explicit programming is complex and programmers must be specially trained. Mixed systems attempt to unite the facility of guiding with the power of programming. However, existing mixed systems exhibit mismatches in the interaction between programming and guiding, because they ignore underlying dependencies between the programmer and operator. An operator may (1) be given insufficient visual cues;(2) lack the required dexterity;or (3) be required to add unforeseen movement sequences to the program. This paper presents the design and implementation of ART (adaptive robot trainer), a prototypical mixed robot training system that eliminates or corrects deficiencies in visual cues and dexterity, and additionally improves the guiding and programming components. Mixed systems and assembly tasks are analysed, to give an effective representation of task state, which in turn motivates the design of ART's language to automate much of the program-guiding interaction. The language allows the programmer to express assembly operations and object-feature relationships in a natural way while providing the system with the information necessary to maintain the task state. The representation also enables the correction of guiding errors, flexibility in the guiding protocol and the generation of meaningful messages to prompt operator actions. These principles in the design and implementation pave the road to more instructable, capable robots.
Surface manufacturing is a process of adding material to or removing material from the surfaces of a part, where industrial robots are usually used. robot programming for these applications is still time consuming and...
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ISBN:
(纸本)9781612843865
Surface manufacturing is a process of adding material to or removing material from the surfaces of a part, where industrial robots are usually used. robot programming for these applications is still time consuming and costly. Typical teaching methods are not cost effective and efficient. There are many offline programming methods developed to reduce the robot programming effort. However, these methods suffer many practical issues, such as cable/hose tangling, robot configuration, collision and reachability. To solve these problems, this paper discusses a new method to generate robot programs based on existing ones in the database, which contains not only the robot paths, but also the programmers’ knowledge and process parameters. Since industrial robots have been used in production for decades, there are many robot programs for different parts generated by the robot programmers. Some of these parts are quite similar, such as car bodies. Therefore, these robot programs can be transformed to generate new ones with some adjustments based on the geometry of new parts. In this paper, a robot path generation method is developed based on the existing robot paths in the database. Experiments were performed to validate the developed methodology. The results are very promising in reducing the programming efforts in surface manufacturing.
In this study, the Enneagram test was done for the technical high school students, and the personality types of those students were categorized as the following three types: head, breast, and belly, which are three ma...
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This paper reports a new dynamic programming environment for FDNet. The FDNet was designed as a flexible system that can accept new functions by reforming the network itself. Another feature that the relation networks...
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This paper reports a new dynamic programming environment for FDNet. The FDNet was designed as a flexible system that can accept new functions by reforming the network itself. Another feature that the relation networks in FDNet are described by XML can help to expand the network scale easily. Our new dynamic editing system uses the feature, and communicates via TCP/IP network for editing. Some trials reported in this paper shows a capability of an automatic self-editing function in the imitating robot system.
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