AUGMENTED REALITY BASED ROBOT PATH PLANNING FOR PROGRAMMING BY DEMONSTRATION

摘要

Most existing methods of robot path planning are time-consuming and may require sophisticated software tools. This paper presents a novel system that combines programming by demonstration (PbD) with augmented reality (AR) interface to facilitate robot path planning. A depth camera is applied to continuously track the location of the end effector of a robot in 3D space. The tracking result helps produce useful guidance information for the user to correctly execute the planning task.