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An integrated approach for industrial robot control and programming combining haptic and non-haptic gestures

: Hügle, J.; Lambrecht, J.; Krüger, J.


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Robotics and Automation Society:
IEEE RO-MAN 2017, 26th IEEE International Symposium on Robot and Human Ineractive Communication : August 28-September 1, 2017, Lisbon, Portugal; Human-robot collaboration and human assistance for an improved quality of life
Piscataway, NJ: IEEE, 2017
ISBN: 978-1-5386-3518-6
ISBN: 978-1-5386-3517-9
ISBN: 978-1-5386-3519-3
International Symposium on Robot and Human Interactive Communication (RO-MAN) <26, 2017, Lisbon>
Conference Paper
Fraunhofer IPK ()

We present a hybrid programming method for industrial robots combining advantages of manual haptic guidance of the end-effector and programming approaches using non-haptic pointing gestures for the spatial definition of poses and trajectories. Whereas the bare-hand spatial interaction can be implemented and performed cost- and time-efficiently but lacks accuracy, haptic-interaction is more time-consuming but it is used in a reduced manner in order to enable a highly-accurate refinement of target working poses. Additionally, the user is supported by a mobile Augmented Reality simulation providing spatial validation of the robot program, program management and transmission towards the robot controller. The implementation is realized by a compliance control based on a sensor mounted between flange and end-effector combined with our former introduced approach for spatial programming. We conducted a user study comparing Teach-In and Offline programming. The analysis shows a significant reduction of programming duration as well as a reduction of programming errors compared with Teach-In. Most participants favor the hybrid programming system. No significant differences for the programming duration could be determined between experts and non-experts. In comparison between haptic and non-haptic interaction, non-experts favor non-haptic interaction due to the higher intuitiveness of pointing gestures compared to direct physical interaction.