An Offline-Merge-Online Robot Teaching Method Based on Natural Human-Robot Interaction and Visual-Aid Algorithm

This article proposes an offline-merge-online robot teaching method (OMORTM). Specifically, a virtual-real fusion interactive interface (VRFII) is first developed by projecting a virtual robot into the real scene with an augmented-reality (AR) device, aiming to implement offline teaching. Second, a...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics Vol. 27; no. 5; pp. 2752 - 2763
Main Authors: Du, Guanglong, Yao, Gengcheng, Li, Chunquan, Liu, Peter
Format: Journal Article
Language:English
Published: New York IEEE 01.10.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Augmented reality
CAI
Computer assisted instruction
Education
Gesture and speech teaching algorithm
Human engineering
offline-merge-online robot teaching
Robot dynamics
Robot kinematics
Robot sensing systems
Robots
Service robots
Task analysis
Teaching methods
Trajectory
Virtual reality
virtual-real fusion interactive interface (VRFII)
visual-aid algorithm (VAA)
Workpieces
ISSN:1083-4435, 1941-014X
Online Access:Get full text
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Summary:This article proposes an offline-merge-online robot teaching method (OMORTM). Specifically, a virtual-real fusion interactive interface (VRFII) is first developed by projecting a virtual robot into the real scene with an augmented-reality (AR) device, aiming to implement offline teaching. Second, a visual-aid algorithm (VAA) is proposed to improve offline teaching accuracy. Third, a gesture and speech teaching fusion algorithm (GSTA) with the fingertip tactile force feedback is developed to obtain the natural teaching pattern and improve the interactive accuracy of teaching the real or virtual robot. More specifically, through the VRFII, the operator can use the GSTA and the VAA to teach the virtual robot naturally and safely, and then the real robot reproduces the motion of the virtual robot. Therefore, OMORTM enables the teaching results to be quickly verified while ensuring the operator's safety and avoiding damage to the robot or workpiece. A series of experiments were conducted to validate the practicality and effectiveness of OMORTM. The results show that by effectively combining the offline and online, OMORTMprovides accurate robotic teaching processes, suitable for nonprofessionals.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2021.3112722