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

Robotics and Computer-Integrated Manufacturing

Volumn 25, Issue 3, 2009, Pages 689-701

  Chong, J W S ^a   Ong, S K ^c   Nee, A Y C ^a,c   Youcef Youmi, K ^a,b  

^a SINGAPORE MIT ALLIANCE   (Singapore)

^b Massachusetts Institute of Technology Cambridge   (United States)

^c NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Augmented reality; Beam search algorithm; Collision free volume; Interactive; Methodology; Path planning; Robot programming

Indexed keywords

AUGMENTED REALITY; FREE VOLUME; HEURISTIC ALGORITHMS; LEARNING ALGORITHMS; PROGRAMMABLE ROBOTS; ROBOTICS; TURBO CODES; VIRTUAL REALITY;

BEAM SEARCH ALGORITHM; COLLISION-FREE VOLUME; INTERACTIVE; METHODOLOGY; PATH PLANNING;

ROBOT PROGRAMMING;

EID: 61349148824     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2008.05.002     Document Type: Article

References (33)

1. Schraft RD, Degenhart E, Hägele M, Kahmeyer M. New robot applications in production and service. In: Proceedings of the IEEE international workshop on advanced robotics, Tsukuba, Japan, 8-9 November 1993. p. 15-23.
2. OSHA technical manual, industrial robots and robot system safety, section IV: chapter 4. Available from: 〈http://www.osha.gov/dts/osta/otm/otm_iv/otm_iv_4.html〉 [last accessed 10.09.06].
3. Natonek E, Zimmerman T, Fluckiger L. Model based vision as feedback for virtual reality robotics environment. In: Proceedings of the IEEE virtual reality annual international symposium (VRAIS), Los Alamitos, CA, 11-15 March 1995. p. 110-7.
4. Aleoti J., Caselli S., and Reggiani M. Leveraging on a virtual environment for robot programming by demonstration. Rob Autonomous Syst 47 2-3 (2004) 153-161
5. Robot work cell simulation, University of Missouri, Rolla, MO. Available from: 〈http://web.umr.edu/~vrpl/proj-robot.htm〉 [last accessed 10.09.06].
6. Pires J.F., Godinho T., and Ferreira P. CAD interface for automatic robot welding programming. Ind Robot: Int J 31 1 (2004) 71-76
7. Pires J.F., Loureiro A., Godinho T., Ferreira P., Fernando B., and Morgado F. Object oriented and distributed software applied to industrial robotic welding. Ind Robot: Int J 29 2 (2002) 149-161
8. Asada H., and Izumi H. Automatic program generation from teaching data for the hybrid control of robots. IEEE Trans Rob Autom 5 2 (1989) 166-173
9. Atkeson CG, Schaal S. Learning tasks from a single demonstration. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), vol. 2, 20-25 April 1997. p. 1706-12.
10. Friedrich H., Kaiser M., and Dillmann R. What can robots learn from humans?. Annu Rev Control 20 (1996) 167-172
11. Kaiser M, Retey A, Dillmann R. Robot skill acquisition via human demonstration. In: Proceedings of the 7th international conference on advanced robotics (ICAR), Sant Feliu de Guixols, Spain, September 1995. p. 763-8.
12. Kaiser M, Dillmann R. Building elementary robot skills from human demonstration. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), vol. 3, 22-28 April 1996. p. 2700-5.
13. Delson N, West H. Robot programming by human demonstration: adaptation and inconsistency in constrained motion. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), vol. 1, 22-28 April 1996. p. 30-6.
14. Delson N, West H. Robot programming by human demonstration: the use of human inconsistency in improving 3D robot trajectories. In: Proceedings of the IEEE/RSJ/GI international conference on intelligent robots and systems (IROS), vol. 2, 12-16 September 1994. p. 1248-55.
15. Delson N, West H. Robot programming by human demonstration: the use of human variation in identifying obstacle free trajectories. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), vol. 1, 8-13 May 1994. p. 564-71.
16. Chen J., and Zelinsky A. Programming by demonstration: coping with suboptimal teaching actions. Int J Rob Res 22 5 (2003) 299-319
17. Choset H., Lynch K.M., Hutchinson S., Kantor G., Burgard W., Kavraki L.E., et al. Principles of robot motion: theory, algorithms, and implementations (2005), MIT Press, Cambridge, MA
18. Abdel-Malek L.L., and Li Z. The application of inverse kinematics in the optimum sequencing of robot tasks. Int J Prod Res 28 1 (1990) 75-90
19. Sabuncuoglu I., and Bayiz M. Analysis of reactive scheduling problems in a job shop environment. Eur J Oper Res 126 (2000) 567-586
20. Erel E., Sabuncuoglu I., and Sekerci H. Stochastic assembly line balancing using beam search. Int J Prod Res 43 7 (2005) 1411-1426
21. Hsu D, Latombe JC, Motwani R. Path planning in expansive configuration spaces. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), vol. 3, 20-25 April 1997. p. 2719-26.
22. Neumann U, Majoros A. Cognitive, performance, and systems issues for augmented reality applications in manufacturing and maintenance. In: Proceedings of the IEEE virtual reality annual international symposium (VRAIS), Atlanta, GA, 14-18 March 1998. p. 4-11.
23. Molineros J, Sharma R. Computer vision for guiding manual assembly. In: Proceedings of the 4th IEEE international symposium on assembly and task planning (ISATP), Fukuoka, Japan, 28-29 May 2001. p. 362-8.
24. Azuma R.T. A survey of augmented reality. Presence: Teleoperators Virtual Environ 6 4 (1997) 355-385
25. Milgram P, Zhai S, Drasic D, Grodski JJ. Applications of augmented reality for human-robot communication. In: Proceedings of the 1993 IEEE/RSJ international conference on intelligent robots and systems (IROS 1993), Yokohama, Japan, 20-26 July 1993. p. 1467-72.
26. Zaeh MF, Vogl W. Interactive laser-projection for programming industrial robots. In: Proceedings of the international symposium on mixed and augmented reality 2006 (ISMAR2006), Santa Barbara, USA, 22-25 October 2006, p. 125-8.
27. Rastogi A, Milgram P. Augmented telerobotic control: a visual interface for unstructured environments. In: Proceedings of the KBS/robotics conference, Montreal, Canada, 16-18 October 1995. p. 16-18.
28. Pettersen T, Pretlove J, Skourup C, Engedal T, Lokstad T. Augmented reality for programming industrial robots. In: Proceedings of the international symposium on mixed and augmented reality (ISMAR), Tokyo, Japan, 7-10 October 2003. p. 319-20.
29. Bischoff R, Kazi A. Perspectives on augmented reality based human-robot interaction with industrial robots. In: Proceedings of the 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS2004), Sendai, Japan, 28 September-2 October 2004. p. 3226-31.
30. Kato H, Billinghurst M. Marker tracking and HMD calibration for a video-based augmented reality conferencing system. In: Proceedings of the 2nd international workshop on augmented reality, San Francisco, CA, October 1999. p. 85-94.
31. Craig J.C. Introduction to robotics, mechanics and control. 2nd ed. (1989), Addison-Wesley, Reading, MA
32. Kavraki L.E., Svestka P., Latombe J.C., and Overmaers M.H. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans Rob Autom 12 4 (1996) 566-580
33. Bobrow J.E., Dubowsky S., and Gibson J.S. Time-optimal control of robotic manipulators along specified paths. Int J Rob Res 4 3 (1985) 3-17