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Augmented reality-assisted robot programming system for industrial applications

robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2020年 61卷 101820-000页

作者： Ong, S. K. Yew, A. W. W. Thanigaivel, N. K. Nee, A. Y. C. Natl Univ Singapore Fac Engn Mech Engn Dept 9 Engn Dr 1 Singapore 117576 Singapore

robots are important in high-mix low-volume manufacturing because of their versatility and repeatability in performing manufacturing tasks. However, robots have not been widely used due to cumbersome programming effort and lack of operator skill. One significant factor prohibiting the widespread application of robots by small and medium enterprises (SMEs) is the high cost and necessary skill of programming and re-programming robots to perform diverse tasks. This paper discusses an Augmented Reality (AR) assisted robot programming system (ARRPS) that provides faster and more intuitive robot programming than conventional techniques. ARRPS is designed to allow users with little robot programming knowledge to program tasks for a serial robot. The system transforms the work cell of a serial industrial robot into an AR environment. With an AR user interface and a handheld pointer for interaction, users are free to move around the work cell to define 3D points and paths for the real robot to follow. Sensor data and algorithms are used for robot motion planning, collision detection and plan validation. The proposed approach enables fast and intuitive robotic path and task programming, and allows users to focus only on the definition of tasks. The implementation of this AR-assisted robot system is presented, and specific methods to enhance the performance of the users in carrying out robot programming using this system are highlighted.

关键词： Augmented reality robot programming Human-robot interaction

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An indirect method of industrial robot programming for machining tasks based on STEP-NC

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2019年第1期32卷 43-57页

作者： Slavkovic, Nikola Zivanovic, Sasa Milutinovic, Dragan Univ Belgrade Fac Mech Engn Kraljice Marije 16 Belgrade 11120 Serbia

STEP-NC is the next generation of data models between CAD/CAM and CNC systems and it aims at providing a digital thread for CNC manufacturing. After more than a decade of investigation, the STEP-NC technology is still underdeveloped. As the industrial robots are getting more and more capable of taking on machining operations, it is necessary to couple the robot for machining towards new STEP-NC standards. The paper presents an indirect method of industrial robot programming for machining tasks by applying standard ISO 10303-238. A methodology has been established to enable programming and simulation of industrial robots for machining, where information on the machining project is saved at a high information level in the STEP-NC format, which can be readily exchanged between different users for machining, either on machine tools or robots for machining. The methodology also includes the developed robot language converter for STEP-NC programme translation to robot programming language for machining tasks. Developed programming method verification has been performed by simulation in STEP-NC Machine environment using configured virtual robot and after that through several real experiments of drawing the toolpath in 3-axis machining tasks on available vertical articulated robot.

关键词： robot programming STEP-NC simulation machining

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Development and evaluation of a virtual training environment for on-line robot programming

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INTERNATIONAL JOURNAL OF INDUSTRIAL ERGONOMICS 2016年 53卷 274-283页

作者： Nathanael, Dimitris Mosialos, Stergios Vosniakos, George-C. Natl Tech Univ Athens Sch Mech Engn Zografos Greece

The paper reports on the development and evaluation of a virtual reality system to support training in on-line programming of industrial robots. The system was evaluated by running training experiments with three groups of engineering students in the real, virtual and virtual augmented robot conditions. Results suggest that, the group with prior training in the virtual reality system augmented with cognitive/perceptual aids clearly outperformed the group that executed the tasks in the real robot only. The group trained in the non-augmented virtual reality system did not demonstrate the same results. It is concluded that the cognitive/perceptual aids embedded in the augmented virtual reality system had a positive effect on all task performance metrics and on the consistency of results across participants on the real robot. Virtual training environments need not be designed as close as possible to the real ones. Specifically designed augmented cognitive/perceptual aids may foster skill development that can be transferred to the real task. The suggested training environment is simple and cost effective in training of novices in an entry level task. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Industrial robots Cost effectiveness Training robot programming Virtual reality

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Voting as validation in robot programming

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INTERNATIONAL JOURNAL OF robotICS RESEARCH 1999年第4期18卷 401-413页

作者： Utete, SW Barshan, B Ayrulu, B Univ Oxford Dept Engn Sci Oxford OX1 3PJ England Bilkent Univ Dept Elect Engn TR-06533 Bilkent Ankara Turkey

This paper investigates the use of voting as a conflict-resolution technique for data analysis in robot programming. Voting represents an information-abstraction technique. It is argued that in some cases a voting approach is inherent in the nature of the data being analyzed: where multiple, independent sources of information must be reconciled to give a group decision that reflects a single outcome rather than a consensus average. This study considers an example of target classification using sonar sensors. Physical models of reflections from target primitives that are typical of the indoor environment of a mobile robot are used. Dispersed sensors take decisions on target type, which must then be fused to give the single group classification of the presence or absence and type of a target Dempster-Shafer evidential reasoning is used to assign a level of belief to each sensor decision. The decisions are then fused by two means. Using Dempster's rule of combination, conflicts are resolved through a group measure expressing dissonance in the sensor views. This evidential approach is contrasted with the resolution of sensor conflict through voting. It is demonstrated that abstraction of the level of belief through voting proves useful in resolving the straight-forward conflicts that arise in the classification problem Conflicts arise where the discriminant data value, an echo amplitude, is most sensitive to noise. Fusion helps to overcome this vulnerability: in Dempster-Shafer reasoning, through the modeling of nonparametric uncertainty and combination of belief values;and in voting, by emphasizing the majority view. The paper gives theoretical and experimental evidence for the use of voting for data abstraction and conflict resolution in areas such as classification where a strong argument can be made for techniques that emphasize a single outcome rather than an estimated value Methods for making the vote more strategic are also investigated The paper addresses the re

关键词： voting Dempster-Shafer theory evidential reasoning sonar sensing ultrasonic transducers multisensor data fusion spatial placement robot programming target classification learning

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Comparing the use of block-based and robot programming in introductory programming education: Effects on perceptions of programming self-efficacy

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COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2023年第5期31卷 1234-1255页

作者： Coskunserce, Ozan Nevsehir Haci Bektas Veli Univ Fac Educ Comp Educ & Instruct Technol Dept Nevsehir Turkiye Nevsehir Haci Bektas Veli Univ Yerleskesi Egitim Fak Bilgisayar & Ogretim Teknol Egitimi Bolumu 2000 Evler Mah TR-50300 Nevsehir Turkiye

Despite the importance given to providing students with programming skills, there are significant problems in teaching programming, mainly at the entry level. Various programming education tools and methods have been developed to solve these problems in introductory programming education. For this reason, block-based and robot programming tools are widely used at various education levels, especially at the novice level. Although the advantages of using block-based and robot programming over classical or text-based programming methods in introductory programming education have been demonstrated in various studies, the two methods have not been compared in experimental studies. The main purpose of this study was to compare the effects of using block-based programming and robot programming methods in introductory programming education on students' perceptions of programming self-efficacy. The results of the study indicated that the perceptions of programming self-efficacy of the students who used the robot programming method in programming education were significantly more positive than those of the students who used the block-based programming method. Moreover, the programming self-efficacy perceptions of the male students who used robot programming in introductory programming education were significantly more positive than those of the female students. After the robot programming activities, the students had more fun with programming and their self-confidence increased.

关键词： block-based programming introductory programming education novice level robot programming self-efficacy perception

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robot programming by human demonstration with random pattern projection

Robot programming by human demonstration with random pattern...

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2009 IEEE International Symposium on Assembly and Manufacturing, ISAM 2009

作者： Goto, Yoshinobu Shimada, Takuya Maeda, Yusuke Dept. of Mechanical Engineering Graduate School of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama 240-8501 Japan Fuji Xerox Co. Ltd. Japan Div. of Systems Research Faculty of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama 240-8501 Japan

ISBN: (纸本)9781424446278

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. ©2009 IEEE.

关键词： robot programming

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A manipulation analysis for robot programming

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robotICA 1999年第5期17卷 529-541页

作者： Ceccarelli, M Univ Cassino Dipartimento Meccan Strutture Ambiente & Territor I-03043 Cassino Fr Italy

In this paper a procedure is proposed for a rational and optimum use of robots. It is the result of the lessons learned by the author in the course of his consultancy and teaching activities on manipulative tasks and programming capabilities of robots. One of the chief aims of this paper is educational, and has been set on the basis of students' practice with robots in the Laboratory of robotics at the University of Cassino, Italy. A second goal consists in highlighting and teaching how robots' versatility and flexibility can be easily exploited during robot's operation when a task is properly modelled through elementary actions. An elementary action, representing a small manipulative operation and consisting in one or few simple instructions given in robot language, can be easily performed by the robot's programming capability. Some examples have been reported to better illustrate the ideas and the procedure proposed, whose main advantage, also from an educational viewpoint, consist in providing a simpler method for analysing manipulations for robot design and programming.

关键词： robot programming manipulation analysis elementary action

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CAD-based automated robot programming in adhesive spray systems for shoe outsoles and uppers

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JOURNAL OF robotIC SYSTEMS 2004年第11期21卷 625-634页

作者： Kim, JY Tongmyong Univ Informat Technol Dept Mechatron Engn Pusan 608711 South Korea

Most shoe manufacturing processes are not yet automated;it puts restrictions on increasing productivity. Among them, adhesive application processes particularly are holding the most workers and working hours. In addition, the working environment is very poor due to the toxicity of adhesive agents. In the case of automating an adhesive application process by using a robot, robot teaching by playback is difficult to produce high productivity because the kinds of shoes to be taught mount up to several thousands. To cope with it, it is necessary to generate robot working paths automatically according to the kind, the size, or the right and the left of shoes, and also to teach the generated paths to a robot automatically. This paper presents a method to generate three-dimensional robot working paths off-line based on CAD data in an automatic adhesive spray system for shoe outsoles and uppers. First, this paper describes how to extract the three-dimensional data of an outsole outline from a two-dimensional CAD drawing file. Second, it describes how to extract the three-dimensional data of an upper profiling line from the three-dimensional scanning data that is opened in a three-dimensional CAD program. Third, it describes how to generate robot working paths based on the extracted data and the nozzle setting parameters for adhesive spray Also, a series of experiments for adhesive spray is performed to verify the effectiveness of the presented methods. This study will do much for increasing productivity in shoe manufacturing as a core work of a robotic adhesive spray system. (C) 2004 Wiley Periodicals, Inc.

关键词： robot programming Paths Footwear industry spray system footwear Uppers OUTSOLE Computer-Aided Design Automation adhesives Working time dimensional data robot

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Toward automatic robot programming: Learning human skill from visual data

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 2000年第1期30卷 180-185页

作者： Yeasin, M Chaudhuri, S Indian Inst Technol Dept Elect Engn Bombay 400076 Maharashtra India

We propose a no,el approach to program a robot by demonstrating the task multiple number of times in front of a binocular vision system. We track artificially-induced features appearing in the image plane due to nonimpedimental color stickers attached at different fingertips and wrist joint, in a simultaneous feature detection and tracking framework. A Kalman filter does the tracking by recursively predicting the tentative feature location and a higher order statistics (HOS)-based data clustering algorithm extracts the feature. A fast and efficient algorithm for the vision system thus developed processes a binocular video sequence to obtain the trajectories and the orientation information of the end effector from the images of a human hand. Thf concept of trajectory bundle Is introduced to avoid singularities and to obtain an optimal path.

关键词： binocular vision higher order statistics robot programming trajectory bundle vector spline

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Academic framework for teaching robot programming at university

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REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL 2018年第4期15卷 404-415页

作者： Canas, J. M. Martin, A. Perdices, E. Rivas, F. Calvo, R. Univ Rey Juan Carlos Robot Lab Madrid 28943 Spain IMDEA Networks Inst Ave Mar Mediterraneo 22 Leganes 28918 Spain

This paper presents a framework for teaching robotics at engineering university degrees in a practical way. It is open source, multiplatform (Linux, Windows, MacOS) and emphasizes the programming of the robot intelligence. It consists of a collection of exercises of several types, which are similar to the new robotic applications (autonomous vehicles, drones, vacuum cleaners...). It uses the Gazebo simulator and the Python programming language. For each exercise an academic application has been created which performs all the auxiliary tasks like graphical interface, connection to the sensors and actuators, timing of the code, etc. and hosts the student's code, who can focus on the perception and control algorithms. Each academic application combines an infrastructure part, which it is provided and remains hidden, and the student part, who simply fills a form file with the robot logic for such exercise. It has been successfully used in several subjects at engineering degree, master and robotics introductory courses.

关键词： robot programming Teaching Software tools programming environments

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