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.
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.
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.
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.
The research leading to these results has received funding from the European Union’s Seventh Framework Programme (FP7/2007-2013) under grant agreement no 314739 (Hephestos).
Brunete, A., Mateo, C., Gambao, E., Hernando, M., Koskinen, J., Ahola, J.M., Seppälä, T. and Heikkila, T. (2016), "User-friendly task level programming based on an online walk-through teaching approach", Industrial Robot, Vol. 43 No. 2, pp. 153-163. https://doi.org/10.1108/IR-05-2015-0103Download as .RIS
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