Innovative Methods for Robot Programming: Development and Comparison

Abstract: In considerations of Human-Machine Interaction or Human-Robot Interaction, humans are often regarded as users or employees. However, the programming of the robot also plays a crucial role, as it is a form of Human-Machine Interaction. According to the International Federation of Robotics, over 500,000 industrial robots were newly installed worldwide in 2022. It is predicted that annual installations will continue to rise in the coming years. This necessitates providing access to robot programming for less specialized personnel. In addition to traditional programming methods, there are already some more intuitive concepts in this field. This includes, for example, guiding the robot arm by hand as an alternative to control through buttons or a joystick. Furthermore, classical textual programming is often replaced by a form of Drag & Drop programming.In addition to these commercially available programming variants, novel programming concepts are conceivable, such as the integration of voice control, the use of mobile devices such as phones or tablets, robot control via gestures, or the utilization of products from the field of video games. Moreover, Augmented Reality technology exists, which can support intuitive robot programming.In this article, we present our own developments on the topic of innovative methods of robot programming. Firstly, an innovative approach to robot programming using gesture control via the Kinect camera is introduced. This method allows the operator to precisely control the robot through multiple waypoints and save them using virtual elements projected by a video-projector. Subsequently, the robot can efficiently traverse the saved points, demonstrating significantly faster programming compared to conventional methods in experiments.Furthermore, we present an innovative Mixed Reality approach. By using a Head-Mounted Display, the operator can control the robot in a particularly advanced manner. This includes not only intuitive path planning in both joint and Cartesian space but also the realization of force-controlled movements and the provision of crucial status information from the robot. This holistic approach creates a novel interface between humans and robots, significantly improving efficiency and control in robotics.Next, a joystick-based robot movement with haptic feedback is introduced. This control allows the operator to precisely and intuitively control the robot using a joystick. The haptic feedback enhances the user experience by providing tactile feedback to better understand the robot's movements.The goal of all these methods is to simplify programming, even without in-depth expertise. We compare these methods with each other and with established programming procedures in terms of time efficiency, ergonomics, programming comfort, etc. Additionally, we analyze whether the considered procedures are suitable for individuals without specific expertise.

Keywords: Human-Robot Interaction, Intuitive robot programming, Ergonomic robot control, User-centric programming

DOI: 10.54941/ahfe1005368

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