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3rd IEEE Colombian Conference on Automatic Control (CCAC)

作者： Bravo, Flor A. Gonzalez, Alejandra M. Gonzalez, Enrique Pontificia Univ Javeriana Engn Sch Bogota Colombia Pontificia Univ Javeriana Engn Bogota Colombia

ISBN: (纸本)9781538603987

This paper examines the main robot programming strategies and how they are used in the educational context. We analyze the advantages and drawbacks of the most common programming strategies in educational robotics such as textual, visual, and tangible based programming. Additionally, it explores the approach of programming by demonstrations PbD in an educational context. We identify the main PbD techniques, such as demonstrations through manipulation of the body of the learner robot or a model of the robot, demonstrations through the body motions of a human o robot teacher, demonstrations through the behavior of an object, among others. The paper also identifies the programming techniques that allow non programmers to create a robot program easily. Furthermore, we present research opportunities of intuitive robot programming in an educational context. Currently, the scope and impact of robot-based activities have primarily focused on the teaching and learning of technical subjects. In this paper, we discuss some characteristics that robot programming environments should have to facilitate the integration of educational robotics in the learning and teaching processes of non-technical school subjects.

关键词： Robot programming intuitive programming educational robotics visual programming languages textual programming languages tangible programming programming by demonstration

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The DLR-KUKA Success story

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IEEE ROBOTICS & AUTOMATION MAGAZINE 2005年第3期12卷 16-23页

作者： Hirzinger, G Bals, J Otter, M Stelter, J DLR Oberpfaffenhofen German Aerosp Ctr Inst Robot & Mechatron D-82230 Wessling Germany

This paper discusses the joint venture between the German Aerospace Center (DLR) Institute of Robotics and Mechatronics and the German robot manufacturer, KUKA Robotics GmbH, for the successful transfer of the knowledge in robot dynamics and control, human robot interaction, and sensory feedback as originally developed for the remote control of space robots to industrial robotics. This technology transfer venture aims to promote more industrial sensory feedback applications with particular focus on the fusion of vision and force, while merging service and industrial robots into the future. As such, the aim is to transfer new robonaut technologies and ultra-lightweight, torque-controlled, kinematically redundant arms with multifingered articulated hands into the terrestrial robot industry.

关键词： industrial robotics intuitive programming sensory interfaces inverse dynamics controller tuning robot optimization Modelica

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Cobot programming for collaborative industrial tasks: An overview

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ROBOTICS AND AUTONOMOUS SYSTEMS 2019年 116卷 162-180页

作者： El Zaatari, Shirine Marei, Mohamed Li, Weidong Usman, Zahid Coventry Univ Fac Engn Environm & Comp Coventry W Midlands England Rolls Royce Coventry W Midlands England

Collaborative robots (cobots) have been increasingly adopted in industries to facilitate human-robot collaboration. Despite this, it is challenging to program cobots for collaborative industrial tasks as the programming has two distinct elements that are difficult to implement: (1) an intuitive element to ensure that the operations of a cobot can be composed or altered dynamically by an operator, and (2) a human-aware element to support cobots in producing flexible and adaptive behaviours dependent on human partners. In this area, some research works have been carried out recently, but there is a lack of a systematic summary on the subject. In this paper, an overview of collaborative industrial scenarios and programming requirements for cobots to implement effective collaboration is given. Then, detailed reviews on cobot programming, which are categorised into communication, optimisation, and learning, are conducted. Additionally, a significant gap between cobot programming implemented in industry and in research is identified, and research that works towards bridging this gap is pinpointed. Finally, the future directions of cobots for industrial collaborative scenarios are outlined, including potential points of extension and improvement. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Human-robot collaboration intuitive programming Human-awareness Cobot

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A Human-Robot Interface for Industrial Robot programming using RGB-D Sensor 30th

A Human-Robot Interface for Industrial Robot Programming usi...

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30th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM)

作者： Arsenopoulos, K. Benardos, P. Natl Tech Univ Athens Sch Mech Engn Sect Mfg Technol Heroon Polytech 9 GR-15780 Athens Greece

This paper presents the development of a Human-Robot Interface (HRI) that uses an RGB-D sensor to facilitate industrial robot programming. The main aims and functionalities of the HRI are described and subsequently emphasis is placed on two novel user interactions methods through which the operator's movements and gestures are captured and used to position the joints of a 6 DOF articulated robot arm. In particular, during the first user interaction method the operator's torso, shoulder and elbow are used to determine the position of the first three robot joints, while the operator's gestures are used to determine the position of the remaining three joints. During the second user interaction method, a combination of the operator's movements and gestures are used to select any desirable robot joint and then modify its angle by a user-configurable step. Both interaction methods also allow the operator to control robot speed and gripper position. The HRI is complemented by a virtual model of the robotic arm, created in Unity3D, to evaluate online programming capabilities. Results from using the two developed user interaction methods to position the robot in pre-defined poses are presented and discussed to highlight strengths and weaknesses of each method. Finally, the obtained conclusions are presented and suggestions for future work are made. (C) 2021 The Authors. Published by Elsevier Ltd.

关键词： intuitive programming skeletal joint tracking gesture based input virtual model

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programming of a Lightweight Robot Using Function Blocks and Sequential Function Charts 25

Programming of a Lightweight Robot Using Function Blocks and...

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25th International Conference on Methods and Models in Automation and Robotics

作者： Thormann, Christian Winkler, Alexander Univ Appl Sci Hsch Mittweida Dept Automat Mittweida Germany

ISBN: (纸本)9781728173818;9781728173801

This paper presents an approach to realize a universal robot programming language. Currently, numerous programming languages for industrial robots exit, depending on the manufacturer of the robot. Attempts to create a standardized language have failed in the past. The presence of several new providers of robots on the market increases the number of different programming languages and concepts. For this reason, it would be desirable to have a unified procedure as can be found in the field of programmable logic controllers. Here, a specification is valid, which defines certain types of programming languages. In this contribution, a lightweight robot was connected to a programmable logic controller, where the programming of the robot should be performed. For this purpose, the communication between these two partner devices was achieved using precast data structures. Concerning the programmable logic controller, function blocks were developed to operate the robot and its periphery. They include robot-based functionality, known from common robot programming languages. With regard to the robot, a client program, which interprets and executes the commands from the programmable logic controller, was implemented. Some small robot tasks were performed to show the simplicity of our approach to robot programming based on the languages of programmable logic controllers.

关键词： Robot programming function block sequential function chart intuitive programming

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Speech Interface for a Lightweight Industrial Robot 25

Speech Interface for a Lightweight Industrial Robot

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25th International Conference on Methods and Models in Automation and Robotics

作者： Wachsmuth, Thomas Thormann, Christian Winkler, Alexander UAS Hsch Mittweida Dept Automat Mittweida Germany

ISBN: (纸本)9781728173818;9781728173801

This paper presents an interface used to control a lightweight industrial robot via speech. Many examples of speech control can be found in everyday life, and there may also be a useful application in industrial automation devices, e.g., robots. Because of their intuitive teach-in concept for hand guidance, lightweight robots are particularly convenient. Furthermore, they include special safety functions in the form of speed and force limitations, which makes the combination of speech recognition and industrial robots in the first instance uncritically. In this study, speech control was firstly compared with other approaches to intuitive and novel robot programming. Here, it is important to distinguish between experts and non-experts. A suitable speech-recognition system was chosen for implementation of a robot speech-control interface. For this purpose, we compared various aspects of currently available speech software. Speech-recognition functionality was then fitted to the robot, and program flow-charts for speech control were developed. Speech-controlled teach-in and speech-controlled robot motion were both integrated into the robot system, and the algorithms were successfully verified by practical experiments. Finally, speech teach-in was compared to teach-in using the teach pendant, and to teach-in of a conventional industrial robot, in terms of duration and usability.

关键词： Robot programming speech control hand-guidance teach-in intuitive programming

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Software System for Remote Robot Control and Monitoring based on Android Operating System and Wireless Communication 25

Software System for Remote Robot Control and Monitoring base...

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25th Telecommunication Forum (TELFOR)

作者： Banduka, Maja M. Lutovac RT RK Inst Comp Based Syst Narodnog Fronta 23a Novi Sad 21000 Serbia

ISBN: (纸本)9781538630730

In designing robot control user interfaces it is not sufficient to simply focus on providing detailed and complete control capability, but ergonomy of use should also be taken into account. Resources in the robotics field are limited for a common user to access and demand deep knowledge of robot-specific programming paradigms. For these reasons, it is not often possible for inexperience students to become familiar with programming and control of complex robotic systems in a practical manner. This paper presents a new method for remote robot programming, control and monitoring independently of user's location by using smart phones, which focuses on ease-of-use, intuitiveness and minimizing the users' cognitive load while maintains abilities for accurately and efficiently programming and control. With the application of the proposed solution in education, the ability to work with inaccessible robotics systems and equipment through the intuitive virtual laboratories, independent on the user's location, is provided and thereby the quality of gaining knowledge is significantly improved.

关键词： Android intuitive programming monitoring remote control

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intuitive Robot Path Planning through Augmented Reality 27

Intuitive Robot Path Planning through Augmented Reality

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27th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Matour, Mohammad-Ehsan Winkler, Alexander Hsch Mittweida Dept Automat Mittweida Germany

ISBN: (纸本)9798350311075

In this paper, an approach for intuitive path planning of a collaborative robot (cobot) based on augmented reality (AR) is presented. For this purpose, a user interface is developed that offers practical functions to the operator for full motion control over a robot manipulator. A mixed reality head-mounted display (HMD) acts as an interface for the operator by displaying virtual content that allows interaction with the robotic system. Besides providing information about the state of the robot, including joint position, velocity, and the force exerted on the robot flange, the gripping force can be adjusted during gripping operations, and motion commands can also be sent to the robot controller. It includes motion commands in joint and Cartesian space, as well as intuitive path planning of the robot based on waypoints created by the operator. A virtual cursor is incorporated into the virtual robot model, with its position and orientation aligned to that of the tool center point (TCP) of the real robot. The operator can execute linear point-to-point as well as non-linear motion. Regarding the safety aspects of the robot motion, a virtual model of the robot is also overlaid on the working environment, allowing the operator to carry out a preview motion to the given trajectory, showing the current and final position of each joint, before executing the motion on the real system. While the human-robot interface and virtual content are created on top of the Unity3D game engine, the Robot Operating System (ROS) provides reliable data transmission and processing between the HMD and the robot controller. The novelty of this work lies on the one hand, in an extensive interface and, on the other hand, in the robot path planning that takes into account the orientation provided by a virtual pointer.

关键词： augmented reality robot path planning robot control intuitive programming human robot interface microsoft hololens

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Unifying Skill-Based programming and programming by Demonstration through Ontologies 5

Unifying Skill-Based Programming and Programming by Demonstr...

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5th International Conference on Industry 4.0 and Smart Manufacturing (ISM)

作者： Eiband, Thomas Lay, Florian Nottensteiner, Korbinian Lee, Dongheui German Aerosp Ctr DLR Inst Robot & Mech Munchener Str 20 D-82234 Wessling Germany Tech Univ Wien TU Wien Autonomous Syst Gusshausstr 27-29 384 A-1040 Vienna Austria

Smart manufacturing requires easily reconfigurable robotic systems to increase the flexibility in presence of market uncertainties by reducing the set-up times for new tasks. One enabler of fast reconfigurability is given by intuitive robot programming methods. On the one hand, offline skill-based programming (OSP) allows the definition of new tasks by sequencing pre-defined, parameterizable building blocks termed as skills in a graphical user interface. On the other hand, programming by demonstration (PbD) is a well known technique that uses kinesthetic teaching for intuitive robot programming, where this work presents an approach to automatically recognize skills from the human demonstration and parameterize them using the recorded data. The approach further unifies both programming modes of OSP and PbD with the help of an ontological knowledge base and empowers the end user to choose the preferred mode for each phase of the task. In the experiments, we evaluate two scenarios with different sequences of programming modes being selected by the user to define a task. In each scenario, skills are recognized by a data-driven classifier and automatically parameterized from the recorded data. The fully defined tasks consist of both manually added and automatically recognized skills and are executed in the context of a realistic industrial assembly environment. (c) 2024 The Authors. Published by Elsevier B.V.

关键词： intuitive programming smart factory skill recognition robot skills programming by Demonstration Learning from Demonstration user interface kinesthetic teaching ontology knowledge base

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Towards intuitive Extended Reality-Based Robot Control and Path Planning: Comparison of Augmented Reality and Mixed Reality-Based Approaches 2

Towards Intuitive Extended Reality-Based Robot Control and P...

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2nd Edition IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering, MetroXRAINE 2023

作者： Matour, Mohammad-Ehsan Thormann, Christian Winkler, Alexander Uas Department of Automation Hochschule Mittweida Mittweida Germany

ISBN: (纸本)9798350300802

In this contribution, two different extended reality-based approaches to intuitive robot control are presented. The first approach is a mixed reality-based method that uses a head-mounted display, while the second approach is an augmented reality-based method that utilizes gesture control through the Microsoft Kinect camera. Both methods are utilized with a collaborative robot. For each approach, a human-robot interface is created to make the interaction with the robot more intuitive and straightforward. The mixed reality-based method focuses on intuitive path planning of the collaborative robot and provides full motion control over the robot manipulator. The head-mounted display serves as the operator's interface, displaying virtual content that enables interaction with the robotic system. The user interface provides information about the robot's state, including joint position, velocity, and force exerted on the robot flange. Additionally, force-controlled motion can be executed by specifying control points around an object and motion commands in joint and Cartesian space can be sent to the robot controller. On the other hand, the augmented reality-based approach deals with intuitive robot control through gestures made by a human operator, supported by augmented reality. A set of gestures is developed to control the robot's movement in Cartesian space and operate the gripper. This paper presents both approaches in detail, followed by a discussion of the advantages and drawbacks of each method. © 2023 IEEE.

关键词： augmented reality human robot interface intuitive programming mixed reality robot control robot path planning

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