Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

Zhang, Hong-Da; Liu, Shoubin; Lei, Qujiang; He, Yue; Yang, Yang; Bai, Yang

doi:10.1007/s40436-020-00303-4

Cited by 12 publications

(6 citation statements)

References 17 publications

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“…Considering that the painting robot requires high cleanliness around the body when it works, foreign manufacturers generally design the wrist joint of the painting robot as a hollow structure, and all kinds of pipelines pass through it and directly connect to the tail of the high-speed rotating cup. At the same time, considering the problem of bending and knotting the internal pipeline of the wrist, the oblique aspherical structure (the joint axes do not intersect at one point and are not orthogonal) is generally adopted [9]. Figure 2 shows Fancu's latest P-250iB spraying robot, which adopts a 3R oblique aspherical wrist joint, and the angle between adjacent joints is designed to be 70 °, which can reduce the problem of pipeline bending to a certain extent.…”

Section: Kinematics Of the Spraying Robotmentioning

confidence: 99%

Motion Trajectory Planning and Design of Material Spraying Service Robot

Wang

Wen

Feng

et al. 2022

Advances in Materials Science and Engineering

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The application of robots reduces repetitive and dangerous tasks for humans, especially the spraying robot, because many spraying materials are corrosive, toxic, and harmful. This paper designs the motion trajectory planning of the material spraying service robot. With the increasing demand for technology, there are strict requirements for the uniformity and thickness of spraying. In view of this, this paper proposes an algorithm for modeling kinematics using a joint screw and optimizes the modeling algorithm using particle swarm optimization. This makes the industrial spraying robot more intelligent and more capable of completing high-standard tasks. The experimental results in this paper show that when the spraying radii on the large-curvature cone surface are 44.5 and 49.5 mm, respectively, the coating distribution in the intersection area of the curved surfaces can be well controlled, and the optimized algorithm can better plan the path of the spraying robot.

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Section: Kinematics Of the Spraying Robotmentioning

confidence: 99%

Motion Trajectory Planning and Design of Material Spraying Service Robot

Wang

Wen

Feng

et al. 2022

Advances in Materials Science and Engineering

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“…(1) The path design of this paper adopts the particle filter theory considering the size of the robot, based on the obstacle identification and positioning in the previous section, the radius is expanded by expanding the cluster center circle to half the width of the robot. Through dynamic constraints, the robot will be limited in the turning process by setting a restricted area of d 1 and d 2 on both sides of the robot [37,38]; meanwhile, the dynamic constraint angle is set at 30 • . As shown in Figure 6a, both A and B are obstacles, and the expansion part is the gray part on the edge of the obstacle.…”

Section: Obstacle Avoidance Path Planningmentioning

confidence: 99%

Visual Navigation and Obstacle Avoidance Control for Agricultural Robots via LiDAR and Camera

Han,

Wu,

Luo

et al. 2023

Remote Sensing

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Obstacle avoidance control and navigation in unstructured agricultural environments are key to the safe operation of autonomous robots, especially for agricultural machinery, where cost and stability should be taken into account. In this paper, we designed a navigation and obstacle avoidance system for agricultural robots based on LiDAR and a vision camera. The improved clustering algorithm is used to quickly and accurately analyze the obstacle information collected by LiDAR in real time. Also, the convex hull algorithm is combined with the rotating calipers algorithm to obtain the maximum diameter of the convex polygon of the clustered data. Obstacle avoidance paths and course control methods are developed based on the danger zones of obstacles. Moreover, by performing color space analysis and feature analysis on the complex orchard environment images, the optimal H-component of HSV color space is selected to obtain the ideal vision-guided trajectory images based on mean filtering and corrosion treatment. Finally, the proposed algorithm is integrated into the Three-Wheeled Mobile Differential Robot (TWMDR) platform to carry out obstacle avoidance experiments, and the results show the effectiveness and robustness of the proposed algorithm. The research conclusion can achieve satisfactory results in precise obstacle avoidance and intelligent navigation control of agricultural robots.

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“…In recent works from state-of-the-art, vision-based systems are exploited in many intuitive programming methods due to the capabilities of vision systems in environment recognition, object recognition and gesture recognition. In ( Zhang et al (2020c) ), a novel approach for robot path teaching is developed using a marker-based vision system with a single RGB-D camera. The movement of the marker is tracked with the RGB-D camera and transferred into a motion planner.…”

Section: Related Workmentioning

confidence: 99%

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

et al. 2022

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Industrial robots and cobots are widely deployed in most industrial sectors. However, robotic programming still needs a lot of time and effort in small batch sizes, and it demands specific expertise and special training, especially when various robotic platforms are required. Actual low-code or no-code robotic programming solutions are exorbitant and meager. This work proposes a novel approach for no-code robotic programming for end-users with adequate or no expertise in industrial robotic. The proposed method ensures intuitive and fast robotic programming by utilizing a finite state machine with three layers of natural interactions based on hand gesture, finger gesture, and voice recognition. The implemented system combines intelligent computer vision and voice control capabilities. Using a vision system, the human could transfer spatial information of a 3D point, lines, and trajectories using hand and finger gestures. The voice recognition system will assist the user in parametrizing robot parameters and interacting with the robot’s state machine. Furthermore, the proposed method will be validated and compared with state-of-the-art “Hand-Guiding” cobot devices within real-world experiments. The results obtained are auspicious, and indicate the capability of this novel approach for real-world deployment in an industrial context.

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Robot programming by demonstration: a novel system for robot trajectory programming based on robot operating system

Cited by 12 publications

References 17 publications

Motion Trajectory Planning and Design of Material Spraying Service Robot

Motion Trajectory Planning and Design of Material Spraying Service Robot

Visual Navigation and Obstacle Avoidance Control for Agricultural Robots via LiDAR and Camera

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

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