Robot Programming Using Augmented Reality

Human-robot interaction issues, especially for industrial robots, have largely been confined to finding better ways to reconfigure or program the robots. In this paper, an Augmented Reality based Robot Programming (RPAR-II) system is proposed. A virtual robot, which is a replicate of a real robot, is used in a real environment to perform and simulate the robot trajectory planning process. The RPAR-II system assists the users during the robot programming process from task planning to execution. Stereo vision-based methodologies for virtual objects registration as well as interactive device position tracking are employed in this system. Practical issues concerning the system implementation are discussed.