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Cited by 17Robot Manipulation and LearningAugmented Reality ApplicationsTeleoperation and Haptic Systems

The DOI matches its Crossref record; 41 of the 41 references it cites were found in a registry or an index.

Motion capture and AR based programming by demonstration for industrial robots using handheld teaching device

Open access
Liu, Guoliang, Sun, Wenlei, Li, Pinwen·2024·Scientific Reports
DOI 10.1038/s41598-024-73747-4PMC PMC11456608
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Abstract

In the industrial robots field, efficient and convenient programming methods have been a hot research topic. In recent years, immersive simulation technology has been developing rapidly in many fields, which provides new horizons for the development of industrial robots. This paper presents a HTC VIVE laser scan motion capture and Holohens augmented reality (AR) based interactive Programming by Demonstration (PbD) system for industrial robot. A portable Handheld Teaching Device (HTD) and its calibration algorithm are designed in the system. The portable HTD which is tracked by a laser motion capture system can be viewed as an AR robot end-effector to teach paths. Meanwhile, the AR robot can be simulated in real time during programing. In addition, the robot reproducing the operator's actions at the same position in space is the focus of programming. So, Multi-system registration methods are proposed to determine the relationship between robot systems, motion capture systems and virtual robot systems. Meanwhile, a path planning algorithm is proposed to convert the captured raw path points into robot-executable code. For unskilled operators, they can easily perform complex programming using the HTD. For skilled senior workers, their skills can be quickly learned by robots using the system.

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Registry

Crossref · 10.1038/s41598-024-73747-4

Cites

41 of 41 references verified0 citation errors · 0 not checkable

Statistics

Figures

Fig. 1 Schematic diagram of PbD for industrial robots using a HTD.
Fig. 1 Schematic diagram of PbD for industrial robots using a HTD.CC BY-NC-ND · PubMed Central
Fig. 2 The algorithm flow of PbD for industrial robots using the HTD.
Fig. 2 The algorithm flow of PbD for industrial robots using the HTD.CC BY-NC-ND · PubMed Central
Fig. 3 Robot end-effector and HTD.
Fig. 3 Robot end-effector and HTD.CC BY-NC-ND · PubMed Central
Fig. 4 Calibration principle of the HTD.
Fig. 4 Calibration principle of the HTD.CC BY-NC-ND · PubMed Central
Fig. 5 Relationships between multiple subsystems.
Fig. 5 Relationships between multiple subsystems.CC BY-NC-ND · PubMed Central
Fig. 6 Principles of registration of virtual environments.
Fig. 6 Principles of registration of virtual environments.CC BY-NC-ND · PubMed Central
Fig. 7 Principles of path planning using HTD.
Fig. 7 Principles of path planning using HTD.CC BY-NC-ND · PubMed Central
Fig. 8 Path planning algorithm.
Fig. 8 Path planning algorithm.CC BY-NC-ND · PubMed Central
Fig. 9 Communication between subsystems.
Fig. 9 Communication between subsystems.CC BY-NC-ND · PubMed Central
Fig. 10 Experimental platform.
Fig. 10 Experimental platform.CC BY-NC-ND · PubMed Central
Fig. 11 Lap joint experiment.
Fig. 11 Lap joint experiment.CC BY-NC-ND · PubMed Central
Fig. 12 Complex curve experiment.
Fig. 12 Complex curve experiment.CC BY-NC-ND · PubMed Central
Fig. 13 Complex spatial curves experiment.
Fig. 13 Complex spatial curves experiment.CC BY-NC-ND · PubMed Central
Fig. 14 Path planning results of complex curve.
Fig. 14 Path planning results of complex curve.CC BY-NC-ND · PubMed Central
Fig. 15 Welding skills record experiment. (I) straight lines (II) Z-shapes (III) S-shapes (IV) Other shapes.
Fig. 15 Welding skills record experiment. (I) straight lines (II) Z-shapes (III) S-shapes (IV) Other shapes.CC BY-NC-ND · PubMed Central
Fig. 16 The real trajectory and the recorded raw points.
Fig. 16 The real trajectory and the recorded raw points.CC BY-NC-ND · PubMed Central
Fig. 17 Path planning results with different search radius.
Fig. 17 Path planning results with different search radius.CC BY-NC-ND · PubMed Central
Fig. 18 Experimental snapshots.
Fig. 18 Experimental snapshots.CC BY-NC-ND · PubMed Central
Fig. 19 Experiments in robot learning to write.
Fig. 19 Experiments in robot learning to write.CC BY-NC-ND · PubMed Central
Fig. 20 Error between robot trajectory and operator trajectory.
Fig. 20 Error between robot trajectory and operator trajectory.CC BY-NC-ND · PubMed Central
Fig. 21 Time taken by volunteers to complete tasks.
Fig. 21 Time taken by volunteers to complete tasks.CC BY-NC-ND · PubMed Central
Fig. 22 Results of user survey.
Fig. 22 Results of user survey.CC BY-NC-ND · PubMed Central

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Citations

Cites

Research works printed but not linked: 1

  1. Chellali, A., Jourdan, F., & Dumas, C. (2013, December). VR4D: An immersive and collaborative experience toimprove the interior design process. In 5th Joint Virtual Reality Conference of EGVE and EuroVR, JVRC 2013 (pp. 61–65).

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Metadata

Authors
Liu, G., Sun, W., & Li, P.
Affiliations
Xinjiang University (CN)
Corresponding author
Sun, Wenlei
Venue
Scientific Reports
Publisher
Springer Science and Business Media LLC
Published
2024-10-06
Volume
14
Issue
1
Pages
23259-23259
ISSN
2045-2322 (ISSN-L)
DOI
10.1038/s41598-024-73747-4
PMC
PMC11456608
OpenAlex
W4403162214
Cited by
17
References
41
Citations by year
2026: 10 · 2025: 7
FWCI
2.66
Type
journal article
Language
en
Open access
Licence
Locations
  • Scientific Reports (publishedVersion, cc-by-nc-nd)
  • PubMed Central (publishedVersion, cc-by-nc-nd)
  • PubMed (publishedVersion)
  • DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion)
Funders
  • The Science and Technology Development Program Projects in Region (2022LQ03007)
  • The Key Laboratory Open Fund in Autonomous Region (2020520002)
  • The Key Research and Development Program in Autonomous Region (202003129)
Topics
  • Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
  • Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Augmented Reality Applications
  • Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
Keywords
industrial robots, programming by demonstration, augmented reality, motion capture, robot programming, path planning, HTC Vive, Microsoft HoloLens, immersive simulation

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