Intuitive programming of robot manipulators (INTROP)

机器人操纵器的直观编程 (INTROP)

• 批准号: 250579273
• 负责人: Professor Dr. Dominik Henrich
• 金额: --
• 依托单位: Lehrstuhl für Angewandte Informatik III - Robotik und Eingebettete Systeme
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2014
• 资助国家: 德国
• 起止时间: 2013-12-31 至 2018-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/250579273?language=en
• 关键词: Intuitive; programming; robot; manipulators; INTROP

Robot manipulators have several advantages, such as strength, speed, endurance, accuracy, and reproducibility. Up to date, these advantages could not be harnessed for a variety of potential applications. These applications are - in addition to the classical field of production - particularly in the areas of service, entertainment and household. They are characterized by relatively few repetitions of the task execution and by a changing work environment. Therefore, the robots will only be rational usable if the current effort for setting-up is significantly reduced and if the execution is supported by environment perception. The setup efforts are mainly influenced by time- and cost-consuming programming of the robot, which for many potential applications is still too expensive (even for experts). In addition, the programming required for sensor-based task executions is particularly high.The aim of the project INTROP is the investigation of new, intuitive programming concepts that enable users without prior programming knowledge to program sensor-based robot manipulators for their applications quickly and easily. The user shall give the robot intuitively "the hand" and lead him through the desired task. He may also activate the robot's tool (e.g. a gripper) or activate environmental sensors (e.g. a camera). Here not only simple tasks are regarded, consisting of a sequence of actions, but also complex tasks with situational variations and repetitions of executions. Compared to previous approaches, the focus here is on intuitively programming imperative control structures (e.g. commands, conditionals, and repetitions) and on intuitively programming declarative behaviours (such as moving, dodging, searching, and sorting). The programming requires only one task demonstration, may subsequently be corrected by the user, and does not need additional hardware (e.g. VR glasses or gloves).

机器人操作器有几个优点，如力量，速度，耐力，准确性和可重复性。到目前为止，这些优势还不能用于各种潜在的应用。除了传统的生产领域外，这些应用尤其是在服务、娱乐和家庭领域。它们的特点是任务执行的重复次数相对较少，工作环境不断变化。因此，机器人将只有合理的使用，如果目前的努力设置是显着减少，如果执行是由环境感知的支持。设置工作主要受到机器人耗时和成本高昂的编程的影响，对于许多潜在应用来说，编程仍然过于昂贵（即使对于专家来说也是如此）。此外，基于传感器的任务执行所需的编程也特别高。INTROP项目的目标是研究新的、直观的编程概念，使用户能够在没有事先编程知识的情况下快速、轻松地为基于传感器的机器人操作器进行编程。用户应给予机器人直观的“手”，并带领他完成所需的任务。他还可以激活机器人的工具（例如夹具）或激活环境传感器（例如相机）。这里不仅考虑简单的任务，包括一系列的行动，但也复杂的任务与情况的变化和重复的执行。与以前的方法相比，这里的重点是直观地编程命令式控制结构（例如命令，条件和重复）和直观地编程声明性行为（例如移动，躲避，搜索和排序）。编程只需要一个任务演示，随后可以由用户进行校正，并且不需要额外的硬件（例如VR眼镜或手套）。