Robot programming using augmented reality: An interactive method for planning collision-free paths

Authors:
J. W. S. Chong;S. K. Ong;A. Y. C. Nee;K. Youcef-Youmi
Affiliations:
Innovation in Manufacturing Systems and Technology Programme, Singapore-MIT Alliance, Singapore;Department of Mechanical Engineering, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore;Innovation in Manufacturing Systems and Technology Programme, Singapore-MIT Alliance, Singapore and Department of Mechanical Engineering, Faculty of Engineering, National University of Singapore, ...;Innovation in Manufacturing Systems and Technology Programme, Singapore-MIT Alliance, Singapore and Department of Mechanical Engineering, Massachusetts Institute of Technology, USA
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2009

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Abstract

Current robot programming approaches lack the intuitiveness required for quick and simple applications. As new robotic applications are being identified, there is a greater need to be able to programme robots safely and quickly. This paper discusses the use of an augmented reality (AR) environment for facilitating intuitive robot programming, and presents a novel methodology for planning collision-free paths for an n-d.o.f. (degree-of-freedom) manipulator in a 3D AR environment. The methodology is interactive because the human is involved in defining the free space or collision-free volume (CFV), and selecting the start and goal configurations. The methodology uses a heuristic beam search algorithm to generate the paths. A number of possible scenarios are discussed.