A programming system for robot-based remote-laser-welding with conventional optics

Reinhart, Günther; Munzert, Ulrich; Vogl, W.

doi:10.1016/j.cirp.2008.03.120

Cited by 81 publications

(37 citation statements)

References 4 publications

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“…interactively overlaying the real environment with virtual spatial information, can be used to make the advantages of graphically-interactive simulation directly available in the real production environment and to provide an efficient and intuitive communication channel for spatial information [35]. As shown below in Figure 4 a virtual model of an aeroplane washing robot can be superimposed over a scaled model of an aeroplane.…”

Section: Programming Using Augmented Realitymentioning

confidence: 99%

Recent progress on programming methods for industrial robots

Pan

Polden

Larkin

et al. 2012

Robotics and Computer-Integrated Manufacturing

431

219

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Abstract"Although an automated flexible production cell is an intriguing prospect for small to median enterprises (SMEs) in current global market conditions, the complexity of programming remains one of the major hurdles preventing automation using industrial robots for SMEs. This paper provides a comprehensive review of the recent research progresses on the programming methods for industrial robots, including online programming, offline programming (OLP), and programming using Augmented Reality (AR). With the development of more powerful 3D CAD/PLM software, computer vision, sensor technology, etc. new programming methods suitable for SMEs are expected to grow in years to come. (C) 2011 Elsevier Ltd. All rights reserved." AbstractAlthough an automated flexible production cell is an intriguing prospect for small to median enterprises (SMEs) in current global market conditions, the complexity of programming remains one of the major hurdles preventing automation using industrial robots for SMEs. This paper provides a comprehensive review of the recent research progresses on the programming methods for industrial robots, including online programming, offline programming (OLP), and programming using Augmented Reality (AR). With the development of more powerful 3D CAD/PLM software, computer vision, sensor technology, etc, new programming methods suitable for SMEs are expected to grow in years to come.

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Section: Programming Using Augmented Realitymentioning

confidence: 99%

Recent progress on programming methods for industrial robots

Pan

Polden

Larkin

et al. 2012

Robotics and Computer-Integrated Manufacturing

431

219

View full text Add to dashboard Cite

show abstract

“…In the following we give an overview on recent scientific publications strongly related to our project. W. Vogl [17] addressed the gesture-based definition of trajectories as well as AR-based evaluation of welding tasks. Moreover, a spatial interface was created to interact with virtual displays, which are projected onto material surfaces by means of a laser projector.…”

Section: Related Workmentioning

confidence: 99%

Spatial Programming for Industrial Robots through Task Demonstration

Lambrecht

Kleinsorge

Rosenstrauch

et al. 2013

International Journal of Advanced Robotic Systems

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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.

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“…User-equipment interfacing projectors are used on robots in teaching a manipulator when the user clicks on a projected virtual pendant [28], displaying recognition results for ngertip instructions on real objects [29], projecting references and content supporting instructions [30,31], projecting a speci ed trajectory on objects while teaching a welding operation [32,33], directing target locations or paths using a hand-held projector [34,35], indicating different information projected around a robot [36,37], etc. The SOI's special feature is using projected screens as bidirectional interfaces enabling users to interact with working robots.…”

Section: Early Work On Soimentioning

confidence: 99%

A Walking Training System with Customizable Trajectory Designing

Dong

Matsumaru

2014

Paladyn, Journal of Behavioral Robotics

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This paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for di erent users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four items as its human-robot interaction design concept: feedback, synchronization, ingenuity and adaptability. A foot model is proposed to de ne the position and direction of a foot. The errors in the detection method used in the system are less than 40 mm in position and 15 deg in direction. On this basis, three parts are structured to achieve the system functions: Trajectory Designer, Trajectory Viewer and Mobile Walking Trainer. According to the experimental results, we have con rmed the system works as intended and designed such that the steps recorded in Trajectory Designer could be used successfully as the footmarks projected in Mobile Walking Trainer and foot-eye coordination training would be conducted smoothly.

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A programming system for robot-based remote-laser-welding with conventional optics

Cited by 81 publications

References 4 publications

Recent progress on programming methods for industrial robots

Recent progress on programming methods for industrial robots

Spatial Programming for Industrial Robots through Task Demonstration

A Walking Training System with Customizable Trajectory Designing

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