Path Planner with Human Input Image

Avni Shah

This image shows a shows cooperative-planning graphic user interface, as applied in a roll-cage assembly welding setting. The path planner is initially tasked with moving the robot end-effector tool (in this case, a welding tool) from "starting tool pose" to "goal tool pose.” If the path planner encounters difficulty in producing a solution, it notifies the human operators. In this case, human operators create a string of balls that constitute a hint as to how the robot should move from "starting tool pose" to the "goal tool pose.” Human operators can move the balls, resize the balls and essentially deform the string of balls until the path planner is able to exploit the given hints.

Published on November 8th, 2019

Last updated on November 8th, 2019