Direct virtual-hand interface in robot assembly programming
Publication in refereed journal


摘要For a long time, robot assembly programming has been produced in two environments: on-line and off-line. On-line robot programming uses the actual robot for the experiments performing a given task; off-line robot programming develops a robot program in either an autonomous system with a high-level task planner and simulation or a 2D graphical user interface linked to other system components. This paper presents a whole hand interface for more easily performing robotic assembly tasks in the virtual tenvironment. The interface is composed of both static hand shapes (states) and continuous hand motions (modes). Hand shapes are recognized as discrete states that trigger the control signals and commands, and hand motions are mapped to the movements of a selected instance in real-time assembly. Hand postures are also used for specifying the alignment constraints and axis mapping of the hand-pan coordinates. The basic virtual-hand functions are constructed through the states and modes developing the robotic assembly program. The assembling motion of the object is guided by the user immersed in the environment to a path such that no collisions will occur. The fine motion in controlling the contact and ending position/orientation is handled automatically by the system using prior knowledge of the pans and assembly reasoning. One assembly programming case using this interface is described in detail in the paper. (C) 1999 Academic Press.
著者Sun HQ, Yuan XB, Baciu G, Gu YQ
期刊名稱Journal of Visual Languages and Computing
頁次55 - 68
關鍵詞DataGlove interface; robot assembly programming; virtual reality
Web of Science 學科類別Computer Science; Computer Science, Software Engineering; COMPUTER SCIENCE, SOFTWARE ENGINEERING

上次更新時間 2021-04-04 於 01:16