Krieglstein, JanJanKrieglsteinHeld, GescheGescheHeldBalint, Balazs AndrasBalazs AndrasBalintNägele, FrankFrankNägeleKraus, WernerWernerKraus2023-12-122023-12-122023https://publica.fraunhofer.de/handle/publica/45791410.1109/ICRA48891.2023.101610952-s2.0-85168671520Skill-based programming has proven to be advantageous for assembly tasks, but still requires expert knowledge, especially for force-controlled applications. However, it is error-prone due to the multitude of parameters, e.g. different coordinate frames and either position-, velocity- or force-controlled motions on the axes of a frame. We propose a mixed reality based solution, which systematically visualizes the geometric constraints of advanced high-level skills directly in the real-world robotic environment and provides a user interface to create applications efficiently and safely in mixed reality. Therefore, state-machine information is also visualized, and a holographic digital twin allows the user to ad-hoc validate the program via force-enabled simulation. The approach is evaluated on a top hat rail mounting task, proving the capability of the system to handle advanced assembly programming tasks efficiently and tangibly.enconference paper