Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping [article]

Rasmus Skovgaard Andersen
<span title="">2016</span> <i title="Aalborg University Press"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lohbcgndfjaodpeibekjcuyufu" style="color: black;">Ph.d.-serien for Det Teknisk-Naturvidenskabelige Fakultet, Aalborg Universitet</a> </i> &nbsp;
The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Where industrial robots traditionally have been placed behind security fences and programmed to perform simple, repetitive tasks, this next generation of robots will be able to work sideby-side with humans and collaborate on completing common tasks. This poses requirements to the robots within sensing, intelligence, safety, and human-robot interfaces. The focus of this
more &raquo; ... thesis is on smart interfaces for such collaborative, industrial robots with advanced sensing capabilities. The work is divided into two areas: Robot vision for robotic skills and projection mapping interfaces. Robotic skills are a basis of task-oriented programming. The goal of the skill concept is to allow humans to instruct new tasks while focusing his or her attention towards the task at hand rather than on the robot's capabilities. In this thesis, it is investigated how a skill based architecture can incorporate advanced robot vision capabilities while keeping the robot programming fast and intuitive. A number of skills are developed for object detection, quality control, etc., and the skills are tested both in laboratories and industrial settings. Projection mapping is the technique to project information into the real world. In contrast to projecting from a static projector onto a static screen, projection mapping warps projected graphics in such a way that it is displayed geometrically correct in modeled environments, including on walls, ceilings, objects, etc. It is in this thesis investigated how projection mapping can be applied as part of human-robot interfaces to simplify and improve human-robot interaction in scenarios involving robot programming as well as human-robot cooperation. By projecting text and graphics into the working area, or task space, humans have access to the relevant information when and where it is needed. In both programming and cooperation scenarios, projection mapping is used to project the state and intentions of cooperative robots onto both environments and detected and tracked objects. Through a number of user studies it is shown that it is possible to use projection mapping in these scenarios for seamless human-robot interaction, and that it in some cases provide significant advantages when compared to traditional monitor based interfaces. v Abstract vi Resumé viii Contents Curriculum Vitae iii Abstract v Resumé vii Thesis Details xiii Preface xv
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