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Combining the Advantages of On- and Offline Industrial Robot Programming

: Guhl, Jan; Nikoleizig, Sylvio; Heimann, Oliver; Hügle, Johannes; Krüger, Jörg


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Industrial Electronics Society -IES-:
24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019. Proceedings : Zaragoza, Spain, 10 - 13 September 2019
Piscataway, NJ: IEEE, 2019
ISBN: 978-1-7281-0303-7
ISBN: 978-1-7281-0302-0
ISBN: 978-1-7281-0304-4
International Conference on Emerging Technologies and Factory Automation (ETFA) <24, 2019, Zaragoza>
Conference Paper
Fraunhofer IPK ()
collision avoidance; robot programming; service robots; robot sensing systems; augmented reality

Classic off- and online programming approaches offer different advantages but cannot provide intuitive programming as it would be needed for frequent reconfiguration of industrial robotic cells and their programs. While a simulation and therewith a collision control can be used offline, highest precision can be achieved by using online teach-in. We propose a system that combines the advantages of both offline and online programming. By creating a programming framework that is independent of in- and output devices we allow the use of augmented as well as virtual reality. Thus, enabling the user to choose for a programming technique that best suits his needs during different stages of programming. Bringing together both methods allows us to not only drastically reduce programming time but simultaneously increase intuitiveness of human robot interaction.