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

作者： Ikeda, Markus Chitturi, Naresh Ganglbauer, Markus Pichler, Andreas PROFACTOR GmbH Stadtgut D1 AT-4407 Steyr Gleink Austria

Productivity and flexibility are antagonists with opposite goals. Until now, optimal productivity could only be achieved in fully automated inflexible serial production. Increased demand for flexibility due to individualized products e.g. in most SMEs requires an increased level of flexibility - also for robots that should provide improved skills as well as improved means of interaction to simplify programming. Instrumented tools based on 3D tracking technology can be used as interfaces in Programming by Demonstration (PbD) scenarios but are prone to inaccuracies introduced by human demonstration. This paper presents a programming paradigm that combines a semantic model based geometric reasoning paradigms with an instrumented tool based PbD approach in order to compensate those introduced inaccuracies as well as investigates basic accuracies of demonstration of point based operations. (C) 2021 The Authors. Published by Elsevier Ltd.

关键词： knowledge based robotics virtual reality mixed reality programming by demonstration human robot interaction

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knowledge based Accuracy Improvement in Programming by Demonstration of Point based Processes

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Procedia Manufacturing 2021年 55卷 16-23页

作者： Markus Ikeda Naresh Chitturi Markus Ganglbauer Andreas Pichler PROFACTOR GmbH Im Stadtgut D1 AT-4407 Steyr-Gleink Austria

Productivity and flexibility are antagonists with opposite goals. Until now, optimal productivity could only be achieved in fully automated inflexible serial production. Increased demand for flexibility due to individualized products e.g. in most SMEs requires an increased level of flexibility – also for robots that should provide improved skills as well as improved means of interaction to simplify programming. Instrumented tools based on 3D tracking technology can be used as interfaces in Programming by Demonstration (PbD) scenarios but are prone to inaccuracies introduced by human demonstration. This paper presents a programming paradigm that combines a semantic model based geometric reasoning paradigms with an instrumented tool based PbD approach in order to compensate those introduced inaccuracies as well as investigates basic accuracies of demonstration of point based operations.

关键词： knowledge based robotics virtual reality mixed reality programming by demonstration human robot interaction

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