Abstract
This chapter reports on a different approach to programming robot tasks. Here robot teleoperation tasks are demonstrated by the teacher off-line, by the direct manipulation of pre-stored object models within the image of a workcell. The method is more reminiscent of constructing a montage using an Apple Macintosh user interface than the more pure approach to robot programming using the mouse, or keyboard. This off-line approach allows the programmer to visually program a robot task. We started by re-implementing a SunView front-end in a hypermedia-based form. This was done under a user interface building tool called HyperLook. We later exploited the inherent object-oriented flexibility of HyperLook by adding additional features to the new front-end, like an object modelling CAD tool, and a variety of algorithms to detect objects, perform collision avoidance, and demonstrate successful object grasp. Here, we simply give an overview of the benefits of hypermedia front-ends for teleoperation tasks where there is human-in-the-loop control.
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Grant, E., Adam, G.K., Shepherd, B.A. (1993). Developing Hypermedia Front-Ends for Robot Teleoperation Tasks. In: Kaynak, O., Honderd, G., Grant, E. (eds) Intelligent Systems: Safety, Reliability and Maintainability Issues. NATO ASI Series, vol 114. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-58021-5_7
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DOI: https://doi.org/10.1007/978-3-642-58021-5_7
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