Open AccessSpatial Programming for Industrial Robots through Task Demonstration
Author(s) -
Jens Lambrecht,
Martin Kleinsorge,
Martin J. Rosenstrauch,
Jörg Krüger
Publication year - 2013
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/55640
Subject(s) - computer science , augmented reality , task (project management) , programmer , human–computer interaction , robot , interface (matter) , artificial intelligence , programming by demonstration , gesture , mobile device , computer vision , grasp , mobile robot , programming language , management , bubble , maximum bubble pressure method , parallel computing , economics , operating system
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