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ABSTRACT: Purpose – The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach – Intuitive robot programming is achieved by using CAD drawings to generate robot programs off-line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation. Findings – It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy. Research limitations/implications – A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications. Practical implications – Since most manufacturing companies have CAD packages in their facilities today, CAD-based robot programming may be a good option to program robots without the need for skilled robot programmers. Originality/value – The paper proposes a new CAD-based robot programming system. Robot programs are directly generated from a CAD drawing “running” on a commonly available 3D CAD package (Autodesk Inventor) and not from a commercial, computer aided robotics (CAR) software, making it a simple CAD integrated solution. This is a low-cost and low-setup time system where no advanced robot programming skills are required to operate it. In summary, robot programs are generated with a high-level of abstraction from the robot language.
Industrial Robot 04/2012; 39(3):294-303. · 0.60 Impact Factor
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ABSTRACT: More and more, new ways of interaction between humans and robots are desired, something that allow us to program a robot in an intuitive way, quickly and with a high-level of abstraction from the robot language. In this paper is presented a CAD-based system that allows users with basic skills in CAD and without skills in robot programming to generate robot programs from a CAD model of a robotic cell. When the CAD model reproduces exactly the real scenario, the system presents a satisfactory performance. On the contrary, when the CAD model does not reproduce exactly the real scenario or the calibration process is poorly done, we are dealing with uncertain (unstructured environment). In order to minimize or eliminate the previously mentioned problems, it was introduced sensory feedback (force and torque sensing) in the robotic framework. By controlling the end-effector pose and specifying its relationship to the interaction/contact forces, robot programmers can ensure that the robot maneuvers in an unstructured environment, damping possible impacts and also increasing the tolerance to positioning errors from the calibration process. Fuzzy-PI reasoning was used as a force control technique. The effectiveness of the proposed approach was evaluated in a series of experiments.
Automation Science and Engineering (CASE), 2010 IEEE Conference on; 09/2010
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ABSTRACT: Purpose – Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches to robot programming are required. The purpose of this paper is to present a robotic system that allows users to instruct and program a robot with a high-level of abstraction from the robot language. Design/methodology/approach – The paper presents in detail a robotic system that allows users, especially non-expert programmers, to instruct and program a robot just showing it what it should do, in an intuitive way. This is done using the two most natural human interfaces (gestures and speech), a force control system and several code generation techniques. Special attention will be given to the recognition of gestures, where the data extracted from a motion sensor (three-axis accelerometer) embedded in the Wii remote controller was used to capture human hand behaviours. Gestures (dynamic hand positions) as well as manual postures (static hand positions) are recognized using a statistical approach and artificial neural networks. Findings – It is shown that the robotic system presented is suitable to enable users without programming expertise to rapidly create robot programs. The experimental tests showed that the developed system can be customized for different users and robotic platforms. Research limitations/implications – The proposed system is tested on two different robotic platforms. Since the options adopted are mainly based on standards, it can be implemented with other robot controllers without significant changes. Future work will focus on improving the recognition rate of gestures and continuous gesture recognition. Practical implications – The key contribution of this paper is that it offers a practical method to program robots by means of gestures and speech, improving work efficiency and saving time. Originality/value – This paper presents an alternative to the typical robot teaching process, extending the concept of human-robot interaction and co-worker scenario. Since most companies do not have engineering resources to make changes or add new functionalities to their robotic manufacturing systems, this system constitutes a major advantage for small- to medium-sized enterprises.
Industrial Robot 03/2010; 37(2):137-147. · 0.60 Impact Factor
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Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Bangalore, India, September 15-17, 2010. Proceedings; 01/2010
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Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Bangalore, India, September 15-17, 2010. Proceedings; 01/2010
