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

    9 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.
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    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

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