Exploring the VR-based PBD programming approach to teach industrial robotics in manufacturing education

Abstract

Traditionally industrial robots have been programmed on-line using a teach pendant or off-line using programming software. For novice users, using a teach pendant is ideal because the user moves the robot to specific points along the desired tool path, recording key locations in the robot program during the process. Once novice users grasp the basics of robot programming, off-line software is often used to program and simulate more complex robot motion without sacrificing the up time of the robot; points in space are specified and the software generates the tool path automatically. With the advent of collaborative robots, a third programming approach is now gaining attention. Programming by demonstration (PbD) is often used to program collaborative robots. Using PbD, the user programs the robot by physically holding the robot end effector to move it along the intended path, and the computer records the tool path. Accuracy of the program can be enhanced by revising the location of certain points afterward. While the PbD approach seems to be more intuitive, it requires a collaborative robot. Since collaborative robots are relatively new, few academic institutions have them available for students to use. In this work in progress paper we describe a study to explore methods of using the virtual reality (VR) add-on for ABB's RobotStudio to allow students to program traditional industrial robots using the PbD approach. Key features of the VR add-on, and how they allow the user to move a virtual robot end effector to generate a tool path is described. A comparison between the conventional approach of robot programming using the teach pedant and the VR-based PbD approach is then presented. The quality of the resulting robot programs and advantages/ limitations of the VR-based PbD approach are then discussed. We will conclude the paper with practical implications in instructional practice.