Mixed reality for industrial robot programming

Abstract: Nowadays, robots have become of high importance within the manufacturing industry, as well as programming methods have evolved to adapt to the current necessities. Due to the great number of complex concepts in Robotics, the learning curve of actual robotic software can be steep for inexperienced programmers, and previous training is required. However, training that requires the use of real robots is not always available for common users because of the difficult access to the machines. In parallel, new and more powerful Mixed Reality (MR) devices have been developed, expanding the possibilities of path planning. In this project, a MR application to support robot programming for welding purposes is developed, where the targets are placed according to a work object and a welding piece. Within this application, the user can interact with several menus and objects to program the path, which can be configured and simulated in the virtual environment with reachability checking. Paths can also be exported to the real robot, where they are conducted with accurate performance. Considering the learning process, a guide can be activated to show recommended steps, and it is possible to jog the virtual robot to comprehend robot motions. In addition, two experiments are conducted to test the spatial mapping and marker detection capabilities. Finally, the benefits, limitations, and flexibility of the application are discussed considering its impact on humans, while the user experience is evaluated with a survey for further analysis. The resulting application allows the user to generate, configure and export paths through the MR environment and test them in a real robot.