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This paper presents a novel framework enabling end-users to perform themanagement of complex robotic workplaces using a tablet and augmented reality.The framework allows users to commission the workplace comprising differenttypes of robots, machines, or services irrespective of the vendor, settask-important points in space, specify program steps, generate a code, andcontrol its execution. More users can collaborate simultaneously, for instance,within a large-scale workplace. Spatially registered visualization andprogramming enable a fast and easy understanding of workplace processes, whilehigh precision is achieved by combining kinesthetic teaching with specificgraphical tools for relative manipulation of poses. A visually defined programis for execution translated into Python representation, allowing efficientinvolvement of experts. The system was designed and developed in cooperationwith a system integrator based on an offline printed circuit board testing usecase, and its user interface was evaluated multiple times during thedevelopment. The latest evaluation was performed by three experts and indicatesthe high potential of the solution.

ARCOR2: Framework for Collaborative End-User Management of Industrial Robotic Workplaces using Augmented Reality