Publikationsdatenbank
Publication
Visualization of Forces and Torques for Robot-Programming of In-Contact TasksJohannes Hartwig , Sabine Fischer , Dominik Henrich
Abstract (english)
A variety of automation tasks require an accurate specification of forces and torques over time and space. Traditionally, only experts can provide such specifications, contrasting the need for intuitive robot programming in small and medium enterprises. Simulations and visualizations are typical approaches to increase the usability of robot programming frameworks. Thus, we extend our robot programming approach with force and torque visualizations, enabling non-experts to verify and adjust programs for in-contact tasks. In this paper, we contribute a comprehensive comparison of different force/torque visualization techniques and discuss their applications in robot programming systems. Furthermore, we evaluate visualizations of forces and torques generally as well as specifically adapted to our programming concept utilizing two user studies. Vector arrows for forces and curved arrows for torques showed promising results.
Publication data
| Year: | 2023 |
| Publication date: | 22. June 2023 |
| Source: | Annals of Scientific Society for Assembly, Handling and Industrial Robotics (to appear) |
| Keywords (deutsch): | Robotik |
| Keywords (english): | Human-Robot Interaction , Playback Programming , User Study |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=hartwig2023a |
BibTeX
@ARTICLE{hartwig2023a,
TITLE = "Visualization of Forces and Torques for Robot-Programming of In-Contact Tasks",
AUTHOR = "Hartwig, Johannes and Fischer, Sabine and Henrich, Dominik",
YEAR = "2023",
JOURNAL = "Annals of Scientific Society for Assembly, Handling and Industrial Robotics (to appear)",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=hartwig2023a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| hartwig2023a.visualization.preprint.pdf | 4.5M | english | download preprint |