Interactive robot trajectory planning and simulation using Augmented Reality

被引：89
|
作者：
Fang, H. C. [1 ]
Ong, S. K. [1 ]
Nee, A. Y. C. [1 ]
机构：
[1] Natl Univ Singapore, Dept Mech Engn, Fac Engn, Singapore 117576, Singapore
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2012年 / 28卷 / 02期
关键词：
Augmented Reality; Robot programming; Human-robot interaction; Trajectory planning; Simulation; PROJECTIVE VIRTUAL-REALITY; MANIPULATORS; INTERFACE; SYSTEMS;
D O I：
10.1016/j.rcim.2011.09.003
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
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. (C) 2011 Elsevier Ltd. All rights reserved.
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页码：227 / 237
页数：11
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