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- Publisher
- Springer International Publishing
- Copyright
- © Springer Nature Switzerland AG 2021
- ISBN
- 978-3-030-51590-4
- Pages
- 309 –319
- DOI
- 10.1007/978-3-030-51591-1_16
- Publisher site
- See Chapter on Publisher Site
Abstract
[In the near future, it is expected that robot programming methods will be more intuitive and user-friendly. Currently, the industrial robot programming is mainly based on the use of teach pendants and offline programming tools. The way of editing a program is currently not user friendly and it mainly requires an expert to find the robot position to edit and replace it, without considering higher level details. This chapter sets out a method for simplifying industrial robot programming by using visual sensors that detect human gestures. A vocabulary of movements of body and hand is described, allowing the robot to move in various directions. For the transformation between human and robot motions, an external controller application is used. A decoder application is developed on the robot side to translate human messages into robot motions. The system is incorporated into an open Robot Operating System (ROS)-based communication architecture, allowing easy extensibility with new functionalities. An automotive industry case study demonstrated the method, including the di-rectification of a dual arm robot for single and bi-manual motions.]
Published: Oct 1, 2020