Mixed Reality Robot Programming

Using a mixed reality interface for programming cobots can alleviate issues faced by conventional programming methods. For instance, a mixed reality programming interface can aid in workspace visualisation during programming by overlaying useful information  over the physical workspace, such as the current recorded trajectory. Overlaying a model of the robot over the physical robot can also aid in the verification of robot localisation. Finally, the use of a more intuitive interface with a lower gulf of execution may result in reduced reprogramming times, minimising disruption to workflows. The aim of this project is to improve on the programming experience of cobots by developing a prototype mixed reality programming interface. In line with cobots’ strengths in safe operation alongside humans, a compliant control scheme is used for safety.