article

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

Authors:

J. W. S. Chong,

K. Youcef-YoumiAuthors Info & Claims

Robotics and Computer-Integrated Manufacturing, Volume 25, Issue 3

Pages 689 - 701

https://doi.org/10.1016/j.rcim.2008.05.002

Published: 01 June 2009 Publication History

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.

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cover image Robotics and Computer-Integrated Manufacturing

Robotics and Computer-Integrated Manufacturing Volume 25, Issue 3

June, 2009

219 pages

ISSN:0736-5845

Issue’s Table of Contents

Copyright © Elsevier Ltd © 2008.

Publisher

Pergamon Press, Inc.

United States

Publication History

Published: 01 June 2009

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Cited By

Van Deurzen BRovelo Ruiz GLuyten KGrollman DBroadbent EJu WSoh HWilliams T(2024)A Visual Design Space for One-Dimensional Intelligible Human-Robot Interaction VisualizationsCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640557(1067-1071)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610978.3640557
Phaijit OSammut CJohal W(2023)User Interface Interventions for Improving Robot Learning from DemonstrationProceedings of the 11th International Conference on Human-Agent Interaction10.1145/3623809.3623848(152-161)Online publication date: 4-Dec-2023
https://dl.acm.org/doi/10.1145/3623809.3623848
Izquierdo RCukla ALorini FPerondi E(2023)Optimal Two-Step Collision-Free Trajectory Planning for Cylindrical Robot using Particle Swarm OptimizationJournal of Intelligent and Robotic Systems10.1007/s10846-023-01903-5108:3Online publication date: 11-Jul-2023
https://dl.acm.org/doi/10.1007/s10846-023-01903-5
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