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Intuitive Visual Definition of Part Aligned Coordinate Systems and Motions for Industrial Robots

: Winkler, Bernd

Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Frankfurt/Main; Informationskreis für Raumplanung e.V. -IfR-, Dortmund:
50th International Symposium on Robotics, ISR 2018 : June 20-21, 2018 Messe München, Entrance East, Munich, Germany
Berlin: VDE Verlag, 2018
ISBN: 978-3-8007-4699-6
ISBN: 3-8007-4699-9
International Symposium on Robotics (ISR) <50, 2018, Munich>
Fraunhofer IPA ()
Industrieroboter; Roboternavigation; Roboterprogrammierung; Koordinationssystem; Bildverarbeitung

Apart from unconstrained free space motions, robot motions often are related to geometrical features like edges, surfaces and contours of the objects to manipulate. Unfortunately, robots do not know the pose of these features, and conventional methods to acquire them are cumbersome and time consuming. We show that if the robot is equipped with vision sensors, the feature coordinate systems can be taught by the instructor in a convenient and fast point and click manner. We further ease the extraction of relevant features by machine vision algorithms. For evaluation we experimentally compare our approach against teach pendant programming on a Universal Robot UR10 and obtain significant time savings for novice as well as experienced robot programmers.