ARCOR2: Framework for Collaborative End-User Management of Industrial Robotic Workplaces using Augmented Reality

TL;DR

This paper introduces ARCOR2, a framework that enables end-users to manage complex robotic workplaces using augmented reality on tablets, facilitating collaboration, visualization, and programming without vendor lock-in.

Contribution

The paper presents a novel AR-based framework for end-user management of industrial robots, integrating visualization, programming, and collaboration features in a user-friendly interface.

Findings

High precision manipulation achieved through kinesthetic and graphical tools

Effective collaboration with multiple users in large-scale workplaces

Positive expert evaluation indicating high potential

Abstract

This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of robots, machines, or services irrespective of the vendor, set task-important points in space, specify program steps, generate a code, and control its execution. More users can collaborate simultaneously, for instance, within a large-scale workplace. Spatially registered visualization and programming enable a fast and easy understanding of workplace processes, while high precision is achieved by combining kinesthetic teaching with specific graphical tools for relative manipulation of poses. A visually defined program is for execution translated into Python representation, allowing efficient involvement of experts. The system was designed and developed in cooperation with a system integrator based on an offline printed circuit board testing use case, and its user interface was evaluated multiple times during the development. The latest evaluation was performed by three experts and indicates the high potential of the solution.