AR based robot programming using teaching by demonstration techniques

摘要

This paper presents an Augmented Reality tool for supporting the operator's interaction with the robot hardware in production systems. We are focusing on the development of an AR application, which allows the user to interact with a robotic arm and move it by demonstration. The application's purpose is to simplify and accelerate the industrial manufacturing process by introducing an easy and intuitive way of interaction with the hardware, without requiring special programming skills or long training time from the worker. The proposed software is developed for the Microsoft's HoloLens Mixed Reality Headset, integrated with ROS and it has been tested in a case study inspired from the automotive industry.