In the last decades, industrial manipulators have been used to speed up the production process and also to perform tasks that may put humans at risk. Typical interfaces employed to teleoperate the robot are not so intuitive to use. In fact, it takes longer to learn and properly control a robot whose interface is not easy to use, and it may also increase the operator’s stress and mental workload. In this paper, a touchscreen interface for supervised assembly tasks is proposed, using an LCD screen and a hand-tracking sensor. The aim is to provide an intuitive remote controlled system that enables a flexible execution of assembly tasks: high level decisions are entrusted to the human operator while the robot executes pick-and-place operations. A demonstrative industrial case study showcases the system potentiality: it was first tested in simulation, and then experimentally validated using a real robot, in a laboratory environment.

PoinTap system: a human-robot interface to enable remotely controlled tasks / Sibona, Fiorella; CEN CHENG, PANGCHENG DAVID; Indri, Marina; Di Prima, Danilo. - ELETTRONICO. - (2021). ((Intervento presentato al convegno 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2021) tenutosi a Västerås (Sweden) nel September 7-10, 2021 [10.1109/ETFA45728.2021.9613546].

PoinTap system: a human-robot interface to enable remotely controlled tasks

Fiorella Sibona;Pangcheng David Cen Cheng;Marina Indri;
2021

Abstract

In the last decades, industrial manipulators have been used to speed up the production process and also to perform tasks that may put humans at risk. Typical interfaces employed to teleoperate the robot are not so intuitive to use. In fact, it takes longer to learn and properly control a robot whose interface is not easy to use, and it may also increase the operator’s stress and mental workload. In this paper, a touchscreen interface for supervised assembly tasks is proposed, using an LCD screen and a hand-tracking sensor. The aim is to provide an intuitive remote controlled system that enables a flexible execution of assembly tasks: high level decisions are entrusted to the human operator while the robot executes pick-and-place operations. A demonstrative industrial case study showcases the system potentiality: it was first tested in simulation, and then experimentally validated using a real robot, in a laboratory environment.
978-1-7281-2989-1
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2928406