Browsing by Author "Cheng, Shu-Ling"

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A novel teaching and training system for industrial applications based on augmented reality
(1970-01-01)
Young, Kuu-Young
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Cheng, Shu-Ling
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Ko, Chun-Hsu
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Su, Yu-Hsuan
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Liu, Qiao-Fei
Along with the high demand on automation, more industrial robot manipulators are being introduced to factories. In addition to their manufacturing, it is also very crucial on the deployment and training of the robots. It thus solicits the development of new types of manipulative devices and methods for tackling these tasks of high complexity. To achieve effective task execution, this paper proposes a novel AR-based teaching and training system, along with several assistive strategies. The technique of augmented reality (AR), which combines virtual objects with real scenes, is used for providing visual immersion. The assistive strategies, including that of collision-free path planning, occlusion effect removal, and visual guidance, are designed to ease the user from the load during the complicated teaching process. We conduct a series of experiments for performance evaluation. Questionnaires based on the system usability scale are also administered to obtain feedback from users.
Development of a 3D AR-Based Interface for Industrial Robot Manipulators
(2018-01-01)
Su, Yu-Hsuan
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Chen, Chun-Yung
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Cheng, Shu-Ling
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Ko, Chun-Hsu
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Young, Kuu-Young
Along with the progress in automation and Industry 4.0, the use of industrial robots becomes much more popular. Meanwhile, the conventional manipulative devices, such as teaching pendant and joystick, are not intuitive enough and very time-consuming for task teaching. In facing more complicated tasks these days, it then induces high cost and demands experts with proper training. This paper thus aims to develop an intuitive manipulatory interface for assistance in simplifying the teaching process. We propose a wireless 3D manipulation system based on augmented reality (AR) with the tablet PC as the platform. The system allows the user to govern the movement of a real robot in a 3D space via a virtual one generated through AR We also develop several intelligent tools to assist the manipulation, so that accurate and collision-free path can be generated for the robot to follow for task execution. In addition, the system can also be used for offline training, which yields salient training effect for the operator. Experiments are executed to demonstrate the effectiveness of the proposed system, and questionnaires conducted to investigate user's response.
Development of a Comfort-Based Motion Guidance System for a Robot Walking Helper
(1970-01-01)
Young, Kuu-young
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Cheng, Shu-Ling
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Ko, Chun-Hsu
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Tsou, Hao-Wei
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電子工程學系及電子研究所
In research on providing motion assistance for elderly care, the robot walking helper is considered to be able to maintain their vitality. For its practicality, one issue of interest is its feasible path planning for guidance. Inspired by the concept of including human factors for path planning previously proposed, in this paper, we develop such a motion guidance system for the robot walking helper. We first selected the human factors most vital for the elderly and also public via an Internet survey, and then developed a corresponding path planning algorithm and control strategy for its realization. Experiments are conducted to demonstrate the effectiveness of the proposed system. Key contributions of the paper lie on (a) one of the few studies that include human factors into path planning of the robot walking helper and (b) a more thorough consideration on comfort with both physical and psychological factors corresponding to elderly and public preference included.