Open document
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General information |
| Author |
Lambrecht, Jens; Kleinsorge, Martin; Rosenstrauch, Martin |
| Published |
InTech Open Access Publisher, 2013
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| 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 interface. Finally, we discuss an
application of the presented spatial programming approach
toward robot‐based welding tasks. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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