Riedl, MichaelHenrich, DominikPlayback robot programming is fast and easy to use for non-experts, because the robot only needs to be manually guided. However, it is only capable of replaying the trajectory exactly as it was taught. We present the concept of loop increments for playback programmed robots to allow the user to teach tasks like palletizing or stacking without having to explicitly guide the robot through each trajectory. Only the base trajectory for one repetition needs to be program med. After each loop iteration, the user-defined increment is added to the incremental configurations, e.g. to the pick or place configurations. To achieve this, two methods of defining the loop increments are shown. Afterwards, linear, Gaussian, and cosine blending functions in combination with the point and interval method are introduced for weighting the increments and as a foundation for the adaption algorithm. The evaluation showed, that the cosine blending function with the interval method best fits the needs of our programming system.


    Access

    Download


    Export, share and cite



    Title :

    Playback Robot Programming with Loop Increments


    Contributors:


    Publication date :

    2022-01-01


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Playback Robot Programming Framework for Fiber Spraying Processes

    Schmidt, Edgar / Henrich, Dominik | Springer Verlag | 2022

    Free access

    User-Centered Design of an Intuitive Robot Playback Programming System

    Colceriu, Christian / Riedl, Michael / Henrich, Dominik et al. | Springer Verlag | 2020

    Free access

    VIDEO PLAYBACK DEVICE, RECORD PLAYBACK DEVICE, VIDEO PLAYBACK METHOD, AND VIDEO PLAYBACK PROGRAM

    TANIYAMA HIROSHI / SAKAI YASUTOSHI / HAYASHI KEITA | European Patent Office | 2021

    Free access

    PLAYBACK DEVICE AND PLAYBACK METHOD

    SAKAI YASUTOSHI / HAYASHI KEITA | European Patent Office | 2024

    Free access

    VIDEO PLAYBACK DEVICE, RECORD PLAYBACK DEVICE, VIDEO PLAYBACK METHOD, AND VIDEO PLAYBACK PROGRAM

    SAKAI YASUTOSHI / HAYASHI KEITA / TANIYAMA HIROSHI | European Patent Office | 2021

    Free access