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

doi:10.1109/IROS.2018.8593700

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

Faculty of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

150 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 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	https://doi.org/10.1109/IROS.2018.8593700
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	https://www.iros2018.org/ https://ieeexplore.ieee.org/xpl/conhome/8574473/proceeding (Proceedings)

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10.1109/IROS.2018.8593700

Cite this

Quintero, C. P., Li, S., Pan, M. K., Chan, W. P., Machiel Van Der Loos, H. F., & Croft, E. (2018). Robot programming through augmented trajectories in augmented reality. In C. Laschi (Ed.), 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1838-1844). (IEEE International Conference on Intelligent Robots and Systems). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2018.8593700

Quintero, Camilo Perez ; Li, Sarah ; Pan, Matthew Kxj et al. / Robot programming through augmented trajectories in augmented reality. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). editor / Cecilia Laschi. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. pp. 1838-1844 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Robot programming through augmented trajectories in augmented reality",

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.",

author = "Quintero, \{Camilo Perez\} and Sarah Li and Pan, \{Matthew Kxj\} and Chan, \{Wesley P.\} and \{Machiel Van Der Loos\}, \{H. F.\} and Elizabeth Croft",

year = "2018",

month = dec,

day = "27",

doi = "10.1109/IROS.2018.8593700",

language = "English",

isbn = "9781538680957",

series = "IEEE International Conference on Intelligent Robots and Systems",

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editor = "Cecilia Laschi",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States of America",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2018, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

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Quintero, CP, Li, S, Pan, MK, Chan, WP, Machiel Van Der Loos, HF & Croft, E 2018, Robot programming through augmented trajectories in augmented reality. in C Laschi (ed.), 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 1838-1844, IEEE/RSJ International Conference on Intelligent Robots and Systems 2018, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593700

Robot programming through augmented trajectories in augmented reality. / Quintero, Camilo Perez; Li, Sarah; Pan, Matthew Kxj et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). ed. / Cecilia Laschi. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2018. p. 1838-1844 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AU - Li, Sarah

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AU - Croft, Elizabeth

PY - 2018/12/27

Y1 - 2018/12/27

N2 - 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.

AB - 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.

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Quintero CP, Li S, Pan MK, Chan WP, Machiel Van Der Loos HF, Croft E. Robot programming through augmented trajectories in augmented reality. In Laschi C, editor, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2018. p. 1838-1844. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2018.8593700

Robot programming through augmented trajectories in augmented reality

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