TY - JOUR
T1 - An augmented reality framework for robotic tool-path teaching
AU - Chacko, Sonia Mary
AU - Granado, Armando
AU - Kapila, Vikram
N1 - Funding Information:
Work supported in part by the National Science Foundation under DRK-12 grant DRL-1417769, ITEST grant DRL-1614085, and RET Site grant EEC-1542286, and NY Space Grant Consortium grant 76156-10488. The authors thank Drs.
PY - 2020
Y1 - 2020
N2 - Robot manipulators are widely used in industries to automate myriad operations. To address the demand shifts in industries, automated systems such as robots must flexibly adapt in response. Such dynamics often necessitate end-users to reprogram robots to meet the changing industry needs. This leads to a demand for experienced programmers, familiar with proprietary robot software. As one alternative, an augmented reality (AR) framework can offer a user-friendly solution that permits end-users to reprogram robots without any domain expertise. This paper presents an AR teaching (ART) methodology that allows end-users to program varied manipulators in an intuitive and effortless manner for tool-path teaching. The ART method is contrasted with an alternative kinesthetic teaching method for its performance and user experience. Results show that the ART method yields a convenient and time-efficient teaching method and it is recommended by users over the kinesthetic teaching method.
AB - Robot manipulators are widely used in industries to automate myriad operations. To address the demand shifts in industries, automated systems such as robots must flexibly adapt in response. Such dynamics often necessitate end-users to reprogram robots to meet the changing industry needs. This leads to a demand for experienced programmers, familiar with proprietary robot software. As one alternative, an augmented reality (AR) framework can offer a user-friendly solution that permits end-users to reprogram robots without any domain expertise. This paper presents an AR teaching (ART) methodology that allows end-users to program varied manipulators in an intuitive and effortless manner for tool-path teaching. The ART method is contrasted with an alternative kinesthetic teaching method for its performance and user experience. Results show that the ART method yields a convenient and time-efficient teaching method and it is recommended by users over the kinesthetic teaching method.
KW - Augmented/mixed reality
KW - Human-robot interaction
KW - Intuitive robot programming
KW - User interface design
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U2 - 10.1016/j.procir.2020.03.143
DO - 10.1016/j.procir.2020.03.143
M3 - Conference article
AN - SCOPUS:85092435850
VL - 93
SP - 1218
EP - 1223
JO - Procedia CIRP
JF - Procedia CIRP
SN - 2212-8271
T2 - 53rd CIRP Conference on Manufacturing Systems, CMS 2020
Y2 - 1 July 2020 through 3 July 2020
ER -