Extracting Robotic Part-mating Programs from Operator Interaction with a Simulated Environment

We describe an integrated system for programming part-mating and contact tasks using simulation. A principal goal of this work is to make robotic programming easy and intuitive for untrained users. Using simulation, an operator can specify part placement and contact motions by simply “putting things where they belong”, without resorting to textual descriptions. We describe the simulation system, which models objects as polyhedra and emulates collision and contact interactions in combination with a simplified “operator-friendly” dynamics. The combination of contactsimulation and graphical fixtures enables the operator to easily manipulate this virtual environment using a simple 2D mouse. We also describe the program generation system, which uses the operator’s action sequence to create a set of robot motion commands which realizes the prescribed task.

• Type: Conference
• Year: 1997
• Where: ISER
• Authors: John E. Lloyd, Dinesh K. Pai
• Keywords: ISER 1997, Operator’s Action Sequence, Robot Motion Commands, Robotics, Simple 2D Mouse