To solve the problems of complex robot programming tasks, 
we propose an Augmented Reality (AR) based human-robot interface 
for planning a collision-free path in a complex environment. 
Current robot programming methods usually require 
a high level of experience in robot programming (online programming), 
the time-consuming 3D modeling of working environment 
for collision detection (offline programming), and a 
tedious and inefficient re-planing to adapt environment or task 
changes (both online and offline programming). In order to address 
these problems, an end-to-end AR human-robot interface 
is proposed, which provides a new affordance to users by enabling 
them to plan the path in the AR environment. A set of user-interactive 
tools allow users to define and edit waypoints as the 
high-level guidance and the direct inputs for the toolpath planning 
package, Kinematics and Dynamics Library (KDL). With the 
fast sensing of the workspace and accurate rendering, an in-situ 
simulation module is utilized for collision check and verification 
by the users’ perception. Users will repeat the process of 1) waypoints definition and editing, and 2) the collision checking and path feasibility verification until a satisfactory path is obtained. A preliminary testing is conducted in a use case with complex obstacles to verified the effectiveness and 
the efficiency of the proposed interface.

An Augmented-Reality Based Human-Robot Interface for Robotics Programming in the Complex Environment

Paper Proceedings: https://asmedigitalcollection.asme.org/MSEC/MSEC2021/volume/85062

2021 International Manufacturing Science and Engineering Conference (MSEC2021)

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