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Development and Evaluation of a Manually Guided Demonstration Tool for Robot Programming

Makwana, Adit Parag (2021) Development and Evaluation of a Manually Guided Demonstration Tool for Robot Programming. DLR-Interner Bericht. DLR-IB-RM-OP-2021-131. Master's. Otto-von-Guericke-University Magdeburg.

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Learning from Demonstration is an intuitive technique for robot programming, which enables non-experts to quickly implement new robotic tasks. However, it is difficult to extract motion and force information by directly observing the human operator. Also so-called kinesthetic teaching, which records the motion and forces of the robotic arm, is difficult to be applied in an industrial environment. Therefore, there is a high demand for novel demonstration tools that simplify the programming process. In this thesis, a manually guided demonstration tool is developed that can be freely moved in the work space without being constrained by a robotic arm. The tool fulfills various requirements, which are pose tracking, ergonomic design including buttons and user feedback, integration of a 6D force-torque sensor, and software modules to interface the device with the programming framework. A prototype is evaluated regarding its capabilities to program contact-rich robotic tasks.

Item URL in elib:https://elib.dlr.de/144603/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Development and Evaluation of a Manually Guided Demonstration Tool for Robot Programming
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:No
Keywords:Learning from Demonstration, Kinesthetic Teaching, Hardware, Teach Tool, Force Recording, Force-Torque Sensor, Robotics, Programming
Institution:Otto-von-Guericke-University Magdeburg
Department:Faculty of Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Mechatronics [RO], R - Intuitive human-robot interface [RO], R - Project Factory of the Future
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Nottensteiner, Korbinian
Deposited On:08 Nov 2021 10:12
Last Modified:08 Nov 2021 10:12

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