Intuitive Skill-Level Programming of Industrial Handling Tasks on a Mobile Manipulator
Pedersen, Mikkel Rath ; Herzog, Dennis and Krüger, Volker LU
(2014)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
p.4523-4530
- Abstract
- In order for manufacturing companies to remain competitive while also offering a high degree of customization for the customers, flexible robots that can be rapidly reprogrammed to new tasks need to be applied in the factories. In this paper we propose a method for the intuitive programming of an industrial mobile robot by combining robot skills, a graphical user interface and human gesture recognition. We give a brief introduction to robot skills as we envision them for intuitive programming, and how they are used in the robot system. We then describe the tracking and gesture recognition, and how the instructor uses the method for programming. We have verified our approach through experiments on several subjects, showing that the system... (More)
- In order for manufacturing companies to remain competitive while also offering a high degree of customization for the customers, flexible robots that can be rapidly reprogrammed to new tasks need to be applied in the factories. In this paper we propose a method for the intuitive programming of an industrial mobile robot by combining robot skills, a graphical user interface and human gesture recognition. We give a brief introduction to robot skills as we envision them for intuitive programming, and how they are used in the robot system. We then describe the tracking and gesture recognition, and how the instructor uses the method for programming. We have verified our approach through experiments on several subjects, showing that the system is generally easy to use even for inexperienced users. Furthermore, the programming time required to program a new task is very short, especially keeping traditional industrial robot programming methods in mind. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/ba1a94cc-196a-4870-81c1-e0ee70777b54
- author
- Pedersen, Mikkel Rath
; Herzog, Dennis
and Krüger, Volker
LU
- publishing date
- 2014-09-01
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
- pages
- 8 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
- conference location
- Chicago, United States
- conference dates
- 2014-09-14 - 2014-09-18
- external identifiers
-
- scopus:84911488814
- ISBN
- 978-147996934-0
- DOI
- 10.1109/IROS.2014.6943203
- language
- English
- LU publication?
- no
- id
- ba1a94cc-196a-4870-81c1-e0ee70777b54
- date added to LUP
- 2019-05-16 21:23:58
- date last changed
- 2022-01-31 20:11:38
@inproceedings{ba1a94cc-196a-4870-81c1-e0ee70777b54,
abstract = {{In order for manufacturing companies to remain competitive while also offering a high degree of customization for the customers, flexible robots that can be rapidly reprogrammed to new tasks need to be applied in the factories. In this paper we propose a method for the intuitive programming of an industrial mobile robot by combining robot skills, a graphical user interface and human gesture recognition. We give a brief introduction to robot skills as we envision them for intuitive programming, and how they are used in the robot system. We then describe the tracking and gesture recognition, and how the instructor uses the method for programming. We have verified our approach through experiments on several subjects, showing that the system is generally easy to use even for inexperienced users. Furthermore, the programming time required to program a new task is very short, especially keeping traditional industrial robot programming methods in mind.}},
author = {{Pedersen, Mikkel Rath and Herzog, Dennis and Krüger, Volker}},
booktitle = {{2014 IEEE/RSJ International Conference on Intelligent Robots and Systems}},
isbn = {{978-147996934-0}},
language = {{eng}},
month = {{09}},
pages = {{4523--4530}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Intuitive Skill-Level Programming of Industrial Handling Tasks on a Mobile Manipulator}},
url = {{http://dx.doi.org/10.1109/IROS.2014.6943203}},
doi = {{10.1109/IROS.2014.6943203}},
year = {{2014}},
}