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Item type:Publication, Access status: without files , Input and tracking system for augmented reality-assisted robot programmingAugmented Reality-assisted robot programming systems (ARRPS) aim to make the programming of industrial robots more efficient by providing an AR-based human machine interface that allows operators to program robots intuitively and quickly. This work aims to contribute to the field by presenting an input and tracking system based on the VIVE Lighthouse technology that can act as a basis for ARRPS systems, improving maturity, costs and accessibility. To evaluate the system, ARRPS core functionality has been implemented so as to demonstrate its basic feasibility. An extensive evaluation of the system accuracy has been conducted, as this is one of the key criteria for potential adoption of the technology. The feasibility could be successfully demonstrated and it could be shown that the end-to-end mean absolute error of the robot path point placement amounts to 11 mm in a workspace of 0.6 x 0.6 x 0.25 m3 volume. Finally, the robustness and setup time of the system still need to be improved.Publicationtype: Book part37 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Usability of augmented reality assisted commissioning of industrial robot programsThis paper analyses the usability of Augmented Reality (AR) in the commissioning and programming of industrial robots. Conducting two individual studies with a total of 31 participants we analysed the three dimensions of usability: effectiveness, efficiency, and user satisfaction by comparing our developed AR system with the conventional Teach-In programming method during the commissioning and modification of offline created robot programs. The results indicate that, while less accurate and hence effective, the AR system is more efficient and has a higher user satisfaction. Beyond that a posture analysis indicates that during a timeframe of 30 min the additional weight of the AR device does not significantly worsen the posture of a worker. Complemented by the positive result of the System Usability Score (SUS) that rates the analysed AR system with a good usability, the overall results indicate that while still limited by its achievable accuracy AR is an intuitive medium to conduct robot programming and commissioning.Publicationtype: Book part33 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Feasibility of Augmented Reality in the Scope of Commission of Industrial Robot PlantsThis paper analyses the synergetic potential of Augmented Reality (AR) and offline programming (OLP) in the commission of industrial robots. We discuss that AR could utilise existing programming paradigms present in the OLP to simplify the online commission in manufacturing plants with its ability to freely combine digital and real content. Focussing on the complementary use of AR and OLP a theoretically promising use case is derived. The use case is implemented in a simplified mock-up and a user study is conducted to practicably evaluate the feasibility. Ten participants commissioned an offline created program using the developed AR application. As nine out of ten participants could achieve a valid commission by using the developed AR application, the study indicates the feasibility of the presented use case.Publicationtype: Conference Paper65 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Accuracy of marker tracking on an optical see-through head mounted displayThis work assesses the accuracy of mono and stereo vision-based marker tracking on the Microsoft HoloLens as a representative of current generation AR devices. This is motivated by the need to employ object tracking in industrial AR applications. We integrate mono and stereo vision-based marker tracking with the HoloLens. A calibration procedure is developed that allows users to assess the accuracy of the calibration alignments by walking around the virtual calibration target. This can be generally applied when calibrating additional tracking systems with ready-made AR systems. Finally, the accuracy that can be achieved with the developed system is evaluated (comparing the influence of different parameters).Publicationtype: Conference Paper146 18