Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-7845
Main Title: Spatial Programming for Industrial Robots through Task Demonstration
Author(s): Lambrecht, Jens
Kleinsorge, Martin
Rosenstrauch, Martin
Krüger, Jörg
Type: Article
Language Code: en
Abstract: We present an intuitive system for the programming of industrial robots using markerless gesture recognition and mobile augmented reality in terms of programming by demonstration. The approach covers gesture-based task definition and adaption by human demonstration, as well as task evaluation through augmented reality. A 3D motion tracking system and a handheld device establish the basis for the presented spatial programming system. In this publication, we present a prototype toward the programming of an assembly sequence consisting of several pick-and-place tasks. A scene reconstruction provides pose estimation of known objects with the help of the 2D camera of the handheld. Therefore, the programmer is able to define the program through natural bare-hand manipulation of these objects with the help of direct visual feedback in the augmented reality application. The program can be adapted by gestures and transmitted subsequently to an arbitrary industrial robot controller using a unified interface. Finally, we discuss an application of the presented spatial programming approach toward robot-based welding tasks.
URI: https://depositonce.tu-berlin.de//handle/11303/8716
http://dx.doi.org/10.14279/depositonce-7845
Issue Date: 2013
Date Available: 19-Dec-2018
DDC Class: 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Subject(s): industrial robot
augmented reality
gestures
programming by demonstration
object recognition
License: https://creativecommons.org/licenses/by/3.0/
Journal Title: International Journal of Advanced Robotic Systems
Publisher: SAGE Publications
Publisher Place: Washington, DC
Volume: 10
Issue: 5
Article Number: 254
Publisher DOI: 10.5772/55640
EISSN: 1729-8814
ISSN: 1729-8814
Appears in Collections:FG Industrielle Automatisierungstechnik » Publications

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