Using digital pens to program welding tasks

Interaction with robot systems for the specification of manufacturing tasks needs to be simple since the paper targets the widespread use of robots in small and medium enterprises (SMEs). In the best case, existing practices from manual work could be used, to ensure current employees a smooth introduction to robot technology as a natural part of their work. The aim of the paper is to simplify the robot‐programming task by allowing the user to simply make technical drawings on a sheet of paper. Craftsmen use paper and raw sketches for several situations: to share ideas, to get a better perspective of the problem, or to remember the customer situation. Currently these sketches have to be either interpreted by the worker when producing the final product by hand, or transferred into CAD files using an appropriate software tool. The former means that no automation is included, the latter means extra work and considerable experience in using the CAD tool.

The approach is to use a digital pen and paper, both based on the Anoto technology, as input devices for SME robotic tasks, thereby creating simpler and more user‐friendly alternatives for the programming, parameterization and commanding actions. To this end, the basic technology has been investigated and fully working prototypes have been developed to explore the possibilities in the context of typical SME applications. Based on the encouraging experimental results, it is believed that drawings on digital paper will, among other means of human‐robot interaction, play an important role in manufacturing SMEs in the future. Consequently, a fully working test‐case welding example is presented and explained, allowing a complete demonstration of all the developed features.

This paper explores the utilization of digital pens for the task of programming industrial robot manipulators, i.e. the possibility of obtaining robot programs from technical drawings on a sheet of paper. A practical implementation was presented to demonstrate how to use digital pens and CAD applications to program industrial robots. The results clearly show that the digital pen based on Anoto technology, integrated with CAD interfaces and code generation interfaces, is very useful and powerful for the planned task. The next steps will be to adopt a software infrastructure and develop the necessary services to allow system integrators to consider this type of device as an advanced user‐friendly robot‐programming method.

This is the first time that digital pens have been used to program robot manipulators.