Interactive visualization for sensor-based robotic programming

Author

Stuart, K. ; Chapman, G. ; Eagleson, R.

Author_Institution

Dept. of Electr. Eng., Univ. of Western Ontario, London, Ont., Canada

Volume

1

fYear

1997

fDate

12-15 Oct 1997

Firstpage

761

Abstract

We have developed an interactive visualization tool for robot programming. Typically, the kinematic programming of a robot manipulator is similar to the development of procedural code in C or Pascal. However, in the explanation of this code, humans typically prefer to use hand-motions, gestures, and diagrammatic tools. Our interface was developed to bridge that gap. One of the features of our approach is that the interface allows the programmer to launch quasi-autonomous behaviours, in which the motions of the robot are specified both by the model of the environment as derived by the sensor, and by the human operator using interactive visualization

Keywords

data visualisation; diagrams; interactive systems; manipulator kinematics; robot programming; sensors; user interfaces; visual programming; C language; Pascal; diagrammatic tools; gestures; hand-motions; human operator; interactive visualization; kinematic programming; procedural code; quasi-autonomous behaviour; robot manipulator; sensor-based robotic programming; user interface; visual programming; Haptic interfaces; Hardware; Humans; Kinematics; Programming profession; Recursive estimation; Robot programming; Robot sensing systems; Signal processing algorithms; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.626183

Filename

626183