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 language | English |
---|---|
Title of host publication | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Editors | Cecilia Laschi |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 1838-1844 |
Number of pages | 7 |
ISBN (Electronic) | 9781538680940, 9781538680933 |
ISBN (Print) | 9781538680957 |
DOIs | |
Publication status | Published - 27 Dec 2018 |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018 https://www.iros2018.org/ https://ieeexplore.ieee.org/xpl/conhome/8574473/proceeding (Proceedings) |
Publication series
Name | IEEE International Conference on Intelligent Robots and Systems |
---|---|
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 |
---|---|
Abbreviated title | IROS 2018 |
Country/Territory | Spain |
City | Madrid |
Period | 1/10/18 → 5/10/18 |
Internet address |