The market of collaborative robots is thriving due to their increasing affordability. The ability to program a collaborative robot without requiring a highly skilled specialist would increase their spread even more. Visual programming is a prevalent contemporary approach for end-users on desktops or handheld devices, allowing them to define the program logic quickly and easily. However, separating the interface from the robot’s task space makes defining spatial features difficult. At the same time, augmented reality can provide spatially situated interaction, which would solve the issue and allow end-users to intuitively program, adapt, and comprehend robotic programs that are inherently highly spatially linked to the real environment. Therefore, we have proposed Spatially Anchored Actions to address the problem of comprehension, programming, and adaptation of robotic programs by end-users, which is a form of visual programming in augmented reality. It uses semantic annotation of the environment and robot hand teaching to define spatially important points precisely. Individual program steps are created by attaching parametrizable, high-level actions to the points. Program flow is then defined by visually connecting individual actions. The interface is specifically designed for tablets, which provide a more immersive experience than phones and are more affordable and well-known by users than head-mounted displays. The realized prototype of a handheld AR user interface was compared against a commercially available desktop-based visual programming solution in a user study with 12 participants. According to the results, the novel interface significantly improves comprehension of pick and place-like programs, improves spatial information settings, and is more preferred by users than the existing tool.

中文翻译：

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增强现实空间编程范式应用于最终用户机器人编程

由于其价格的不断提高，协作机器人市场正在蓬勃发展。无需高技能专家即可对协作机器人进行编程的能力将进一步扩大其传播范围。可视化编程是台式机或手持设备上的最终用户流行的当代方法，使他们能够快速轻松地定义程序逻辑。然而，将界面与机器人的任务空间分开使得定义空间特征变得困难。同时，增强现实可以提供空间交互，这将解决这个问题，并允许最终用户直观地编程、适应和理解与真实环境在空间上高度相关的机器人程序。因此，我们提出了空间锚定动作来解决最终用户对机器人程序的理解、编程和适应问题，这是增强现实中可视化编程的一种形式。它使用环境的语义注释和机器人手教学来精确定义空间重要点。单独的程序步骤是通过将可参数化的高级操作附加到点来创建的。然后通过直观地连接各个操作来定义程序流程。该界面专为平板电脑设计，比手机提供更身临其境的体验，并且比头戴式显示器更实惠、更受用户欢迎。在一项有 12 名参与者参与的用户研究中，将手持式 AR 用户界面的实现原型与市售的基于桌面的可视化编程解决方案进行了比较。根据结果​​，新颖的界面显着提高了对类似拾取和放置程序的理解，改进了空间信息设置，并且比现有工具更受用户青睐。