Haptic and visual augmented reality interface for programming welding robots

doi:10.1007/s40436-017-0184-7

Advances in Manufacturing ›› 2017, Vol. 5 ›› Issue (3): 191-198.doi: 10.1007/s40436-017-0184-7

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Haptic and visual augmented reality interface for programming welding robots

D. Ni¹, A. W. W. Yew², S. K. Ong², A. Y. C. Nee²

1 School of Instrument Science and Engineering, Southeast University, Nanjing 211189, P. R. China;
2 Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore

收稿日期:2017-02-13 修回日期:2017-05-05 出版日期:2017-09-25 发布日期:2017-09-25
通讯作者: A.Y.C.Nee,E-mail:mpeneeyc@nus.edu.sg E-mail:mpeneeyc@nus.edu.sg
基金资助:
This research is supported by the Singapore A*STAR Agency for Science, Technology and Research Thematic Programme on Industrial Robotics (Grant No. 1225100001), and the China Scholarship Council.

Haptic and visual augmented reality interface for programming welding robots

D. Ni¹, A. W. W. Yew², S. K. Ong², A. Y. C. Nee²

1 School of Instrument Science and Engineering, Southeast University, Nanjing 211189, P. R. China;
2 Mechanical Engineering Department, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore

Received:2017-02-13 Revised:2017-05-05 Online:2017-09-25 Published:2017-09-25
Contact: A.Y.C.Nee,E-mail:mpeneeyc@nus.edu.sg E-mail:mpeneeyc@nus.edu.sg
Supported by:
This research is supported by the Singapore A*STAR Agency for Science, Technology and Research Thematic Programme on Industrial Robotics (Grant No. 1225100001), and the China Scholarship Council.

摘要/Abstract

摘要：

It is a challenging task for operators to program a remote robot for welding manipulation depending only on the visual information from the remote site. This paper proposes an intuitive user interface for programming welding robots remotely using augmented reality (AR) with haptic feedback. The proposed system uses a depth camera to reconstruct the surfaces of workpieces. A haptic input device is used to allow users to define welding paths along these surfaces. An AR user interface is developed to allow users to visualize and adjust the orientation of the welding torch. Compared with the traditional robotic welding path programming methods which rely on prior CAD models or contact between the robot end-effector and the workpiece, this proposed approach allows for fast and intuitive remote robotic welding path programming without prior knowledge of CAD models of the workpieces. The experimental results show that the proposed approach is a user-friendly interface and can assist users in obtaining an accurate welding path.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-017-0184-7

关键词: Robot programming, Human-robot interaction, Robotic welding, Haptic feedback, Augmented reality (AR)

Abstract:

Key words: Robot programming, Human-robot interaction, Robotic welding, Haptic feedback, Augmented reality (AR)

D. Ni, A. W. W. Yew, S. K. Ong, A. Y. C. Nee. Haptic and visual augmented reality interface for programming welding robots[J]. Advances in Manufacturing, 2017, 5(3): 191-198.

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[1]	S. K. Ong, X. Wang, A. Y. C. Nee. 3D bare-hand interactions enabling ubiquitous interactions with smart objects[J]. Advances in Manufacturing, 2020, 8(2): 133-143.
[2]	S. K. Ong, A. Y. C. Nee, A. W. W. Yew, N. K. Thanigaivel. AR-assisted robot welding programming[J]. Advances in Manufacturing, 2020, 8(1): 40-48.
[3]	H. C. Fang, S. K. Ong, A. Y. C. Nee. Adaptive pass planning and optimization for robotic welding of complex joints[J]. Advances in Manufacturing, 2017, 5(2): 93-104.
[4]	X. Wang, S. K. Ong, A. Y. C. Nee. A comprehensive survey of augmented reality assembly research[J]. Advances in Manufacturing, 2016, 4(1): 1-22.
[5]	H. C. Fang, S. K. Ong, A. Y. C. Nee. Novel AR-based interface for human-robot interaction and visualization[J]. Advances in Manufacturing, 2014, 2(4): 275-288.

Haptic and visual augmented reality interface for programming welding robots

Haptic and visual augmented reality interface for programming welding robots

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