Open Collections

Zhang, Haomiao

University of British Columbia

Robot arms have been widely applied in many industries to increase automation in production processes. However, it is a tedious process for small and medium enterprises to reconfigure and program the robots to adapt to their frequently varying production processes. Traditional interfaces such as writing code or using teach pendants are not intuitive and time efficient for domain experts who might not know how to program robot arms. Augmented Reality (AR) has been applied to create intuitive and time efficient user interfaces for robot programming. However, the techniques of motion mapping and degrees of freedom (DOF) separation are not fully explored and evaluated for robot end-effector (EE) orientation control in AR. In this thesis, two motion mapping techniques, hand translation and wrist rotation, were explored. Three DOF separation techniques (Euler angle separation, axis-angle separation and 3 DOF simultaneously) were combined with the two motion mapping techniques to form five different control mode designs. Thirty-three participants were recruited for the study to evaluate the subjective and objective performance of the five designs. Participants were instructed to use each of the control mode to rotate a robot EE to seven different targets. The task completion time of each design was recorded, and participants were asked to rate their cognitive load, perceived usability and user experience through three standardized questionnaires: NASA-TLX, SUS and UEQ. The results show that hand translation motion mapping with axis-angle separation was the most time efficient control mode. For the subjective experience, the results show that hand translation motion mapping was perceived to have lower cognitive load, higher usability, and better user experience in general.

Text

2024-07-04

Attribution-NonCommercial-NoDerivatives 4.0 International

http://hdl.handle.net/2429/88566

Mechanical Engineering

University of British Columbia

UBCV

http://creativecommons.org/licenses/by-nc-nd/4.0/