RESY: Virtual Robot Programming (ViRoP)

 Logo of the ViRoP-Project

Abstract: This research project investigates the programming of robot manipulation tasks without exact knowledge of the capabilities of the used robot and without exact knowledge of both, the properties of the environment (that is, the robot cell) and the gripped object. As an example application, we use the task of manipulating deformable linear objects, as outlined in the RODEO-project. On the way to such a virtual method of programming, we have to answer the following questions:

  • How to present the robot cell to the operator?
  • How could an operator describe (or perform) the planned manipulation task?
  • How could the programmingsystem translate this task in a language, suitable for existing robot systems?
Our approach is, to use a graphical robot simulation system combined with a 6DOF input device. This device will allow intuitive manipulation of any object in the virtual cell and provide tactile feedback.
We hope that this direct and intuitive manipulation of the working object in such an virtual environment, without much worring about the real robot, will ease the task of robot programming significantly.

 

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