Intuitive and model-based on-line programming of industrial robots: A modular on-line programming environment

This paper focuses on the simplification of the on-line programming process of industrial robots. It presents a modular on-line programming environment (software and hardware), which supports an intuitive way of moving and teaching robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Main idea is the combination of different approaches from tele-operation, programming by demonstration and off-line programming, and reuse them in a new fashion on-line on the shopfloor. The proposed programming environment is designed to evaluate the usability of different combination of assisting techniques.

[1]  Heinz Wörn,et al.  Fast hierarchical A(asterisk) path planning for industrial robots based on efficient use of distance computations , 2006 .

[2]  Sebastian Thrun.  Toward a framework for human-robot interaction , 2004 .

[3]  Sebastian Thrun,et al.  Towards A Framework for Human-Robot Interaction , 2004 .

[4]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[5]  Berend Denkena,et al.  Combining manual haptic path planning of industrial robots with automatic path smoothing , 2005, ICINCO.

[6]  D. De Rossi,et al.  Human-robot interaction in autism , 2007 .

[7]  Klas Nilsson,et al.  Programming industrial robots using advanced input-output devices: test-case example using a CAD package and a digital pen based on the Anoto technology , 2007, Int. J. Online Eng..

[8]  Jean-Claude Latombe,et al.  A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking , 2001, ISRR.

[9]  Mark H. Overmars,et al.  Using Workspace Information as a Guide to Non-uniform Sampling in Probabilistic Roadmap Planners , 2005, Int. J. Robotics Res..

[10]  C. S. Syan,et al.  Teach pendants: how are they for you? , 1995 .

[11]  Vladimir A. Kulyukin.  Advances in Human-Robot Interaction , 2009 .

[12]  R. Schraft.  THE NEED FOR AN INTUITIVE TEACHING METHOD FOR SMALL AND MEDIUM ENTERPRISES , 2006 .

[13]  E. Prassler.  Advances in Human-Robot Interaction , 2005 .

[14]  Kostas E. Bekris,et al.  Multiple query probabilistic roadmap planning using single query planning primitives , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).