Interactive robot trajectory planning and simulation using Augmented Reality

Authors:
H. C. Fang;S. K. Ong;A. Y. C. Nee
Affiliations:
Mechanical Engineering Department, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore;Mechanical Engineering Department, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore;Mechanical Engineering Department, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2012

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Abstract

Human-robot interaction in industrial robotics has largely been confined to finding better ways to reconfigure or program the robots. In this paper, an Augmented Reality based (RPAR-II) system is proposed to facilitate robot programming and trajectory planning considering the dynamic constraints of the robots. Through the various simulation capabilities provided in the proposed AR environment, the users are able to preview the simulated motion, perceive any possible overshoot, and resolve discrepancies between the planned and simulated paths prior to the execution of a task. By performing the simulation, the performance of the trajectory planning and the fitness of the selection of the robot controller model/parameters in the robot programming process can be visually evaluated. Practical issues concerning the system implementation are also discussed.