ARCOR2: 拡張現実を用いた産業用ロボット作業環境の協調的エンドユーザー管理フレームワーク
ARCOR2: Framework for Collaborative End-User Management of Industrial Robotic Workplaces using Augmented Reality
タブレットと拡張現実を使って、エンドユーザーが複雑なロボット作業環境を管理・プログラムできるフレームワークを提案し、専門家による評価で高い可能性を示した。
著者: Michal Kapinus, Zdeněk Materna, Daniel Bambušek, Vítězslav Beran, Pavel Smrž
分類: cs.RO, cs.HC
原文アブストラクト
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of robots, machines, or services irrespective of the vendor, set task-important points in space, specify program steps, generate a code, and control its execution. More users can collaborate simultaneously, for instance, within a large-scale workplace. Spatially registered visualization and programming enable a fast and easy understanding of workplace processes, while high precision is achieved by combining kinesthetic teaching with specific graphical tools for relative manipulation of poses. A visually defined program is for execution translated into Python representation, allowing efficient involvement of experts. The system was designed and developed in cooperation with a system integrator based on an offline printed circuit board testing use case, and its user interface was evaluated multiple times during the development. The latest evaluation was performed by three experts and indicates the high potential of the solution.