Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

doi:10.1007/s40436-020-00303-4

Advances in Manufacturing ›› 2020, Vol. 8 ›› Issue (2): 216-229.doi: 10.1007/s40436-020-00303-4

Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

Hong-Da Zhang, Shou-Bin Liu, Qu-Jiang Lei, Yue He, Yang Yang, Yang Bai

Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences, Guangzhou 511458, People's Republic of China

收稿日期:2019-05-26 修回日期:2020-02-08 出版日期:2020-06-25 发布日期:2020-06-08
通讯作者: Qu-Jiang Lei E-mail:qj.lei@giat.ac.cn
基金资助:
This research was supported by the Major Projects of Guangzhou City of China (Grant Nos. 201907010012, 201704030091 and 201607010041), the Guangdong Innovative and Entrepreneurial Research Team Program (Grant No. 2014ZT05G132), Shenzhen Peacock Plan (Grant No. KQTD2015033117354154), the Major Projects of Guangdong Province of China (Grant No. 2015B010919002), the Major Projects of Dongguan City of China (Grant No. 2017215102008), and the Nansha District International Science and Technology Cooperation Project of Guangzhou City of China (Grant No. 2016GJ004).

Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

Hong-Da Zhang, Shou-Bin Liu, Qu-Jiang Lei, Yue He, Yang Yang, Yang Bai

Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences, Guangzhou 511458, People's Republic of China

Received:2019-05-26 Revised:2020-02-08 Online:2020-06-25 Published:2020-06-08
Contact: Qu-Jiang Lei E-mail:qj.lei@giat.ac.cn
Supported by:
This research was supported by the Major Projects of Guangzhou City of China (Grant Nos. 201907010012, 201704030091 and 201607010041), the Guangdong Innovative and Entrepreneurial Research Team Program (Grant No. 2014ZT05G132), Shenzhen Peacock Plan (Grant No. KQTD2015033117354154), the Major Projects of Guangdong Province of China (Grant No. 2015B010919002), the Major Projects of Dongguan City of China (Grant No. 2017215102008), and the Nansha District International Science and Technology Cooperation Project of Guangzhou City of China (Grant No. 2016GJ004).

摘要/Abstract

摘要： In this article, a new trajectory programming system that allows non-expert users to intuitively and efficiently program trajectories for robots is proposed. The system tracks a pen-shaped marker and obtains its position and orientation by processing the point cloud data of the workspace. A graphical user interface, which enables users to save and execute the acquired trajectory immediately after performing trajectory demonstration, is designed and developed for the system. The performance of the developed system is experimentally evaluated by using it to program trajectories for a UR5 robot. The results indicate that compared with traditional kinesthetic programming, the developed system has the potential of significantly reducing the ergonomic stress and workload of users. The system is developed based on the robot operating system, which facilitates its integration with different robot control systems.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-020-00303-4

关键词: Programming by demonstration (PbD), Trajectory programming, Point cloud, Robot operating system (ROS)

Abstract: In this article, a new trajectory programming system that allows non-expert users to intuitively and efficiently program trajectories for robots is proposed. The system tracks a pen-shaped marker and obtains its position and orientation by processing the point cloud data of the workspace. A graphical user interface, which enables users to save and execute the acquired trajectory immediately after performing trajectory demonstration, is designed and developed for the system. The performance of the developed system is experimentally evaluated by using it to program trajectories for a UR5 robot. The results indicate that compared with traditional kinesthetic programming, the developed system has the potential of significantly reducing the ergonomic stress and workload of users. The system is developed based on the robot operating system, which facilitates its integration with different robot control systems.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-020-00303-4

Key words: Programming by demonstration (PbD), Trajectory programming, Point cloud, Robot operating system (ROS)

Hong-Da Zhang, Shou-Bin Liu, Qu-Jiang Lei, Yue He, Yang Yang, Yang Bai. Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system[J]. Advances in Manufacturing, 2020, 8(2): 216-229.

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[2]	Quan Yu Kesheng Wang. A hybrid point cloud alignment method combining particle swarm optimization and iterative closest point method[J]. Advances in Manufacturing, 2014, 2(1): 32-38.

Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

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