A virtual-physical collision detection interface for AR-based interactive teaching of robot

Chen, Chengjun; Pan, Yong; Li, Dongnian; Zhang, Shilei; Zhao, Zhimin; Hong, Jun

doi:10.1016/j.rcim.2020.101948

Cited by 37 publications

(12 citation statements)

References 20 publications

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“…Generally speaking, the research content of collision detection algorithm is how to detect the collision between different objects in virtual scene faster and better. Collision detection between virtual scene and physical scene is the key to test the feasibility of path [38]. The existing collision detection algorithms are generally divided into three main methods: spatial partition method, hierarchical bounding box method and GJK method.…”

Section: Implementation Of Collision Detection Algorithm 431 Methods ...mentioning

confidence: 99%

Design and research of digital twin machine tool simulation and monitoring system

Guo

Fang

et al. 2022

Int J Adv Manuf Technol

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With the application of digital manufacturing technology and intelligent manufacturing technology in manufacturing industry, the existing simulation and monitoring methods of machine tools can not meet the requirements of enterprises, and gradually tend to use digital twin, OPC and other technologies to remote simulation and monitoring of machine tools. In order to prevent the accidental collision of machine tools, this paper builds the virtual model of machine tools based on the digital twin (DT) technology, detects the tool and machine tool collision model based on the improved GJK collision detection algorithm, and automatically controls the machine tool to stop when the tool and machine tool are about to collide. In order to improve the level of machine tool intelligent management, potential information extraction machine run time, this paper proposes a fast simulation method, machine tool CNC code used to detect the code is correct, and in the process of running through a visual component implementation monitoring the running state of the machine tool manufacturing process by monitoring data visualization and testing of large data, extracting the potential information, Realize the online prediction function of tool wear. Taking a turning process of Marine diesel engine cylinder liner as an example, the experimental test results show that the system can quickly judge the correctness of CNC code, effectively monitor the data of machine tool, predict tool wear degree and reduce the risk of tool collision.

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Section: Implementation Of Collision Detection Algorithm 431 Methods ...mentioning

confidence: 99%

Design and research of digital twin machine tool simulation and monitoring system

Guo

Fang

et al. 2022

Int J Adv Manuf Technol

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“…Additionally, automatic algorithms for object detection and registration are time-consuming and hard to perform in real-time (Makhataeva & Varol, 2020 ). Recently, Chen et al ( 2020 ) presented a virtual-physical collision detection method applied in robot programming, but its performance depends on the appropriate placement of sensors in opposite of the user, a proper camera angle, and an unobstructed environment.…”

Section: Related Workmentioning

confidence: 99%

HA$$R^{2}$$bot: a human-centered augmented reality robot programming method with the awareness of cognitive load

2023

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In the era of Industry 4.0, manufacturing enterprises are actively adopting collaborative robots (Cobots) in their productions. Current online and offline robot programming methods are difficult to use and require extensive experience or skills. On the other hand, the manufacturing industries are experiencing a labor shortage. An essential question, therefore, is: how would a new robot programming method help novice users complete complex tasks effectively, efficiently, and intuitively? To answer this question, we proposed HA bot, a novel human-centered augmented reality programming interface with awareness of cognitive load. Using NASA’s system design theory and the cognitive load theory, a set of guidelines for designing an AR-based human-robot interaction system is obtained through a human-centered design process. Based on these guidelines, we designed and implemented a human-in-the-loop workflow with features for cognitive load management. The effectiveness and efficiency of HA bot are verified in two complex tasks compared with existing online programming methods. We also evaluated HA bot quantitatively and qualitatively through a user study with 16 participants. According to the user study, compared with existing methods, HA bot has higher efficiency, a lower overall cognitive load, lower cognitive loads for each type, and higher safety.

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“…Avoiding collisions between users and robots within VEs has been explored primarily in the context of user training for robot teleoperation (Kuts et al, 2017;Guhl et al, 2018;Oyekan et al, 2019;Chen et al, 2020). The work of Oyekan et al (2019) reported that users' stress concerning the robot's presence in a shared workspace increased under three conditions: when the robot's speed increased 1), when the user and robot were close 2), and when the user did not know what the robot was going to do next 3).…”

Section: Visual Feedback For Avoiding Collisions With Robotsmentioning

confidence: 99%

Watch out for the Robot! Designing Visual Feedback Safety Techniques When Interacting With Encountered-Type Haptic Displays

Mercado

Argelaguet

Casiez

et al. 2022

Front. Virtual Real.

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Encountered-Type Haptic Displays (ETHDs) enable users to touch virtual surfaces by using robotic actuators capable of co-locating real and virtual surfaces without encumbering users with actuators. One of the main challenges of ETHDs is to ensure that the robotic actuators do not interfere with the VR experience by avoiding unexpected collisions with users. This paper presents a design space for safety techniques using visual feedback to make users aware of the robot’s state and thus reduce unintended potential collisions. The blocks that compose this design space focus on what and when the feedback is displayed and how it protects the user. Using this design space, a set of 18 techniques was developed exploring variations of the three dimensions. An evaluation questionnaire focusing on immersion and perceived safety was designed and evaluated by a group of experts, which was used to provide a first assessment of the proposed techniques.

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A virtual-physical collision detection interface for AR-based interactive teaching of robot

Cited by 37 publications

References 20 publications

Design and research of digital twin machine tool simulation and monitoring system

Design and research of digital twin machine tool simulation and monitoring system

HA$$R^{2}$$bot: a human-centered augmented reality robot programming method with the awareness of cognitive load

Watch out for the Robot! Designing Visual Feedback Safety Techniques When Interacting With Encountered-Type Haptic Displays

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