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An integrated approach for industrial robot control and programming combining haptic and non-haptic gestures
Zitatschlüssel huegle_2017_roman
Autor Hügle, Johannes and Lambrecht, Jens and Krüger, Jörg
Buchtitel 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)
Seiten 851-857
Jahr 2017
DOI 10.1109/ROMAN.2017.8172402
Monat Aug
Zusammenfassung e present a hybrid programming method for industrial robots combining advantages of manual haptic guidance of the end-effector and programming approaches using non-haptic pointing gestures for the spatial definition of poses and trajectories. Whereas the bare-hand spatial interaction can be implemented and performed cost- and time-efficiently but lacks accuracy, haptic-interaction is more time-consuming but it is used in a reduced manner in order to enable a highly-accurate refinement of target working poses. Additionally, the user is supported by a mobile Augmented Reality simulation providing spatial validation of the robot program, program management and transmission towards the robot controller. The implementation is realized by a compliance control based on a sensor mounted between flange and end-effector combined with our former introduced approach for spatial programming. We conducted a user study comparing Teach-In and Offline programming. The analysis shows a significant reduction of programming duration as well as a reduction of programming errors compared with Teach-In. Most participants favor the hybrid programming system. No significant differences for the programming duration could be determined between experts and non-experts. In comparison between haptic and non-haptic interaction, non-experts favor non-haptic interaction due to the higher intuitiveness of pointing gestures compared to direct physical interaction.
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