Development of Robot Programming System through the use of Augmented Reality for Assembly Tasks
Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany
Tagungsband: ISR 2018
Seiten: 7Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Zou, Wenchao; Andulkar, Mayur; Berger, Ulrich (Chair of Automation Technology, BTU Cottbus-Senftenberg, Cottbus, Germany)
The development of compliant robots has enabled automation of tasks such as assembly, but their programming is still a tedious and time-consuming task performed by skilled personnel. To address this problem, a novel method for robot programming through demonstration of tasks using augmented reality is presented in this work. The method involves extracting assembly relationships from CAD models between parts to be assembled and assembly sequence demonstrations through augmented reality. An assembly tree and an action sequence are generated based on human demonstration of the task to be performed. The developed method was implemented in a simulation environment and experimentally validated using a compliant robot. The results indicate that the developed method is intuitive and easy to program the robot by an unskilled operator.