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Development of an Augmented Reality Interface for Intuitive Robot Programming

Chnitidis, Georgios (2023) Development of an Augmented Reality Interface for Intuitive Robot Programming. Master's, Technical University of Munich.

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Abstract

As the demand for advanced robotic systems continues to grow, the need for new technologies and techniques that can improve the efficiency and effectiveness of robot programming is imperative. The latter relies heavily on the effective communication of tasks between the user and the robot. To address this issue, we developed an Augmented Reality (AR) interface that incorporates Head Mounted Display (HMD) capabilities, and integrated it with an active learning framework for intuitive programming of robots. This integration enables the execution of conditional tasks, bridging the gap between user and robot knowledge. The active learning model with the user's guidance incrementally programs a complex task and after encoding the skills, generates a high level task graph. Then the holographic robot is visualising individual skills of the task in order to increase the user's intuition of the whole procedure with sensory information retrieved from the physical robot in real-time. The interactive aspect of the interface can be utilised in this phase, by providing the user the option of actively validating the learnt skills or potentially changing them and thus generating a new skill sequence. Teaching the real robot through teleoperation by using the HMD is also possible for the user to increase the directness and immersion factors of teaching procedure while safely manipulating the physical robot from a distance. The evaluation of the proposed framework is conducted through a series of experiments employing the developed interface on the real system. These experiments aim to assess the degree of intuitiveness provided by the interface features to the user and to determine the extent of similarity between the virtual system's behavior during the robot programming procedure and that of its physical counterpart.

Item URL in elib:https://elib.dlr.de/194845/
Document Type:Thesis (Master's)
Title:Development of an Augmented Reality Interface for Intuitive Robot Programming
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Chnitidis, GeorgiosUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:2023
Journal or Publication Title:Development of an Augmented Reality Interface for Intuitive Robot Programming
Refereed publication:No
Open Access:Yes
Number of Pages:117
Status:Published
Keywords:Augmented Reality, AR, Learning from Demonstration, Kinesthetic Teaching,
Institution:Technical University of Munich
Department:TUM School of Computation, Information and Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Project Factory of the Future
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Willibald, Christoph
Deposited On:15 May 2023 08:31
Last Modified:15 May 2023 08:31

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