TY - GEN
T1 - Towards programming robots by gestures, test-case
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
AU - Eberst, Christof
AU - Nöhmayer, Helmut
AU - Umgeher, Gerald
AU - Takagi, Motoki
PY - 2006/12/27
Y1 - 2006/12/27
N2 - Rapid programming of applications with down-times near zero is a key to automation of small lotsize production. This paper proposes an approach to program by gestures. It combines the visual observation and interpretation of human activities and gestures, mapping to technical tasks and autonomous execution. Automated planning/generation of the robot motion combined with automated correction of pose deviations (induced from the visual observation) allows an execution which is independent of the observation accuracy. The industrial application: Bores and internal threads play a critical role as integral parts of connections, bearings, engines, hydraulic and pneumatic systems. The increased industrial requirement for high quality components demands 100% surface inspection of bores (here with diameters from 4 to 50 mm) at small lotsizes. Since state-of-the-art automation is limited to high volumes, the main target is to develop a semi-autonomous system for rapid and flexible inspection featuring new programming. The main focus is on rapid and intuitive programming of robotic systems. The paper will describe the implementation and techniques in case of a bore inspection system.
AB - Rapid programming of applications with down-times near zero is a key to automation of small lotsize production. This paper proposes an approach to program by gestures. It combines the visual observation and interpretation of human activities and gestures, mapping to technical tasks and autonomous execution. Automated planning/generation of the robot motion combined with automated correction of pose deviations (induced from the visual observation) allows an execution which is independent of the observation accuracy. The industrial application: Bores and internal threads play a critical role as integral parts of connections, bearings, engines, hydraulic and pneumatic systems. The increased industrial requirement for high quality components demands 100% surface inspection of bores (here with diameters from 4 to 50 mm) at small lotsizes. Since state-of-the-art automation is limited to high volumes, the main target is to develop a semi-autonomous system for rapid and flexible inspection featuring new programming. The main focus is on rapid and intuitive programming of robotic systems. The paper will describe the implementation and techniques in case of a bore inspection system.
KW - Gesture-based programming
KW - Image processing
KW - Robotic inspection
KW - Sensor based robotics
KW - Small lot-size automation
UR - http://www.scopus.com/inward/record.url?scp=33845678659&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845678659&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641733
DO - 10.1109/ROBOT.2006.1641733
M3 - Conference contribution
AN - SCOPUS:33845678659
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 333
EP - 338
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -