User-friendly task level programming based on an online walk-through teaching approach

Alberto Brunete, Carlos Mateo, Ernesto Gambao, Miguel Hernando, Jukka Koskinen, Jari M. Ahola, Tuomas Seppälä, Tapio Heikkilä

Research output: Contribution to journalArticleScientificpeer-review

7 Citations (Scopus)

Abstract

Purpose: This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human-machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach: This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming. Findings: Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance. Originality/value: The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programming were done in separate steps and in separate machines. The authors propose a procedure for using a tablet as the only user interface to acquire paths and to make a program to use this path for machining tasks.

Original languageEnglish
Pages (from-to)153-163
Number of pages11
JournalThe Industrial Robot
Volume43
Issue number2
DOIs
Publication statusPublished - 21 Mar 2016
MoE publication typeA1 Journal article-refereed

Fingerprint

Machining
Teaching
Robot learning
Robots
Industrial robots
User interfaces
Demonstrations
Torque
Sensors

Keywords

  • HMI
  • Manual guidance
  • Robotics
  • Teaching paths

Cite this

Brunete, Alberto ; Mateo, Carlos ; Gambao, Ernesto ; Hernando, Miguel ; Koskinen, Jukka ; Ahola, Jari M. ; Seppälä, Tuomas ; Heikkilä, Tapio. / User-friendly task level programming based on an online walk-through teaching approach. In: The Industrial Robot. 2016 ; Vol. 43, No. 2. pp. 153-163.
@article{e3be7a4c1e544888b8edce68b1616d09,
title = "User-friendly task level programming based on an online walk-through teaching approach",
abstract = "Purpose: This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human-machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach: This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming. Findings: Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance. Originality/value: The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programming were done in separate steps and in separate machines. The authors propose a procedure for using a tablet as the only user interface to acquire paths and to make a program to use this path for machining tasks.",
keywords = "HMI, Manual guidance, Robotics, Teaching paths",
author = "Alberto Brunete and Carlos Mateo and Ernesto Gambao and Miguel Hernando and Jukka Koskinen and Ahola, {Jari M.} and Tuomas Sepp{\"a}l{\"a} and Tapio Heikkil{\"a}",
year = "2016",
month = "3",
day = "21",
doi = "10.1108/IR-05-2015-0103",
language = "English",
volume = "43",
pages = "153--163",
journal = "The Industrial Robot",
issn = "0143-991X",
publisher = "Emerald Publishing Limited",
number = "2",

}

User-friendly task level programming based on an online walk-through teaching approach. / Brunete, Alberto; Mateo, Carlos; Gambao, Ernesto; Hernando, Miguel; Koskinen, Jukka; Ahola, Jari M.; Seppälä, Tuomas; Heikkilä, Tapio.

In: The Industrial Robot, Vol. 43, No. 2, 21.03.2016, p. 153-163.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - User-friendly task level programming based on an online walk-through teaching approach

AU - Brunete, Alberto

AU - Mateo, Carlos

AU - Gambao, Ernesto

AU - Hernando, Miguel

AU - Koskinen, Jukka

AU - Ahola, Jari M.

AU - Seppälä, Tuomas

AU - Heikkilä, Tapio

PY - 2016/3/21

Y1 - 2016/3/21

N2 - Purpose: This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human-machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach: This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming. Findings: Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance. Originality/value: The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programming were done in separate steps and in separate machines. The authors propose a procedure for using a tablet as the only user interface to acquire paths and to make a program to use this path for machining tasks.

AB - Purpose: This paper aims to propose a new technique for programming robotized machining tasks based on intuitive human-machine interaction. This will enable operators to create robot programs for small-batch production in a fast and easy way, reducing the required time to accomplish the programming tasks. Design/methodology/approach: This technique makes use of online walk-through path guidance using an external force/torque sensor, and simple and intuitive visual programming, by a demonstration method and symbolic task-level programming. Findings: Thanks to this technique, the operator can easily program robots without learning every robot-specific language and can design new tasks for industrial robots based on manual guidance. Originality/value: The main contribution of the paper is a new procedure to program machining tasks based on manual guidance (walk-through teaching method) and user-friendly visual programming. Up to now, the acquisition of paths and the task programming were done in separate steps and in separate machines. The authors propose a procedure for using a tablet as the only user interface to acquire paths and to make a program to use this path for machining tasks.

KW - HMI

KW - Manual guidance

KW - Robotics

KW - Teaching paths

UR - http://www.scopus.com/inward/record.url?scp=84962745974&partnerID=8YFLogxK

U2 - 10.1108/IR-05-2015-0103

DO - 10.1108/IR-05-2015-0103

M3 - Article

VL - 43

SP - 153

EP - 163

JO - The Industrial Robot

JF - The Industrial Robot

SN - 0143-991X

IS - 2

ER -