Towards programming robots by gestures, test-case: Programming bore inspection for small lotsizes

Christof Eberst, Helmut Nöhmayer, Gerald Umgeher, Motoki Takagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Rapid programming of applications with down-times near zero is a key to automation of small lotsize production. This paper proposes an approach to program by gestures. It combines the visual observation and interpretation of human activities and gestures, mapping to technical tasks and autonomous execution. Automated planning/generation of the robot motion combined with automated correction of pose deviations (induced from the visual observation) allows an execution which is independent of the observation accuracy. The industrial application: Bores and internal threads play a critical role as integral parts of connections, bearings, engines, hydraulic and pneumatic systems. The increased industrial requirement for high quality components demands 100% surface inspection of bores (here with diameters from 4 to 50 mm) at small lotsizes. Since state-of-the-art automation is limited to high volumes, the main target is to develop a semi-autonomous system for rapid and flexible inspection featuring new programming. The main focus is on rapid and intuitive programming of robotic systems. The paper will describe the implementation and techniques in case of a bore inspection system.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages333-338
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

Keywords

  • Gesture-based programming
  • Image processing
  • Robotic inspection
  • Sensor based robotics
  • Small lot-size automation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Eberst, C., Nöhmayer, H., Umgeher, G., & Takagi, M. (2006). Towards programming robots by gestures, test-case: Programming bore inspection for small lotsizes. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 333-338). [1641733] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641733