Robot programming for manipulators through volume sweeping and augmented reality

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI:10.1109/COASE.2017.8256120

Yasumitsu Sarai, Y. Maeda

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引用次数: 9

Abstract

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.

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通过体积扫描和增强现实的机械手编程

今天的工业机器人需要人类操作员事先教动作。然而，传统的机器人编程方法需要对机器人有深入的了解和技能，或者需要将工作环境的信息输入到计算机中。因此，需要一种人人都能轻松教机器人“好”动作的机器人编程方法。为此，本课题组提出了一种机器人编程方法，将操作者手动清扫体积和自动运动规划相结合，生成周期时间短的运动计划。因为扫掠体是机器人没有碰撞过的空间，所以它是机器人的可移动空间，可以用于运动规划。在本文中，我们提出了在这种编程方法中使用增强现实。我们构建了一个系统，在这个系统中，操作员可以通过增强现实直观地感知获得的扫描体积和生成的路径。教学实验表明，非熟练操作人员通过直接教学可以使机器人在比教学/回放更短的时间内移动。

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2017 13th IEEE Conference on Automation Science and Engineering (CASE)

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