期刊论文详细信息
International Journal of Advanced Robotic Systems
Spatial Programming for Industrial Robots through Task Demonstration
关键词: Industrial Robot;    Augmented Reality;    Gestures;    Programming by Demonstration;    Object Recognition;   
DOI  :  10.5772/55640
学科分类:自动化工程
来源: InTech
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【 摘 要 】

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 interfac...

【 授权许可】

CC BY   

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