期刊
出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.promfg.2017.07.221
关键词
Robotic Assembly; Teaching by Demonstration; Sequential Function Charts; Knowledge Integration
资金
- European Community's Framework Programme Horizon [644938 - SARAFun]
Conventional industrial robots are heavily dependent on hard automation that requires pre-specified fixtures and time-consuming (re) programming performed by experienced operators. In this work, teaching by human-only demonstration is used for reducing required time and expertise to setup a robotized assembly station. This is achieved by the proposed framework enhancing the robotic system with advanced perception and cognitive abilities, accessed through a user-friendly Human Robot Interaction interface. The approach is evaluated on a small parts' assembly use case deployed onto a collaborative industrial robot testbed. Experiments indicate that the proposed approach allows inexperienced users to efficiently teach robots new assembly tasks. (C) 2017 The Authors. Published by Elsevier B.V.
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