Rudorfer, M.M.RudorferGuhl, J.J.GuhlHoffmann, P.P.HoffmannKrüger, J.J.Krüger2022-03-142022-03-142018https://publica.fraunhofer.de/handle/publica/40723510.1109/ETFA.2018.8502527In this paper we contribute to the research on facilitating industrial robot programming by presenting a concept for intuitive drag and drop like programming of pick and place tasks with Augmented Reality (AR). We propose a service-oriented architecture to achieve easy exchangeability of components and scalability with respect to AR devices and robot workplaces. Our implementation uses a HoloLens and a UR5 robot, which are integrated into a framework of RESTful web services. The user can drag recognized objects and drop them at a desired position to initiate a pick and place task. Although the positioning accuracy is unsatisfactory yet, our implemented prototype achieves most of the desired advantages to proof the concept.en658670conference paper