Robot programming through augmented trajectories in augmented reality

Camilo Perez Quintero, Sarah Li, Matthew Kxj Pan, Wesley P. Chan, H. F. Machiel Van Der Loos, Elizabeth Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

67 Citations (Scopus)

Abstract

This paper presents a future-focused approach for robot programming based on augmented trajectories. Using a mixed reality head-mounted display (Microsoft Hololens) and a 7-DOF robot arm, we designed an augmented reality (AR) robotic interface with four interactive functions to ease the robot programming task: 1) Trajectory specification. 2) Virtual previews of robot motion. 3) Visualization of robot parameters. 4) Online reprogramming during simulation and execution. We validate our AR-robot teaching interface by comparing it with a kinesthetic teaching interface in two different scenarios as part of a pilot study: creation of contact surface path and free space path. Furthermore, we present an industrial case study that illustrates our AR manufacturing paradigm by interacting with a 7-DOF robot arm to reduce wrinkles during the pleating step of the carbon-fiber-reinforcement-polymer vacuum bagging process in a simulated scenario.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
EditorsCecilia Laschi
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1838-1844
Number of pages7
ISBN (Electronic)9781538680940, 9781538680933
ISBN (Print)9781538680957
DOIs
Publication statusPublished - 27 Dec 2018
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2018 - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/
https://ieeexplore.ieee.org/xpl/conhome/8574473/proceeding (Proceedings)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2018
Abbreviated titleIROS 2018
Country/TerritorySpain
CityMadrid
Period1/10/185/10/18
Internet address

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