Robot Programming Through Augmented Trajectories in Augmented Reality
- Resource Type
- Conference
- Authors
- Quintero, Camilo Perez; Li, Sarah; Pan, Matthew KXJ; Chan, Wesley P.; Machiel Van der Loos, H.F.; Croft, Elizabeth
- Source
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2018 IEEE/RSJ International Conference on. :1838-1844 Oct, 2018
- Subject
- General Topics for Engineers
Robotics and Control Systems
Task analysis
Trajectory
Service robots
Visualization
End effectors
- Language
- ISSN
- 2153-0866
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.