Traditional robot teaching methods are cumbersome, tedious and difficult to scale for high-mix low-volume applications. The tape masking, a common process for surface protection before plasma spraying, spray painting and shot peening, is one of those domains where robotic automation lacks flexibility and reliability due to the complexity in task. Fortunately, it is still within the grasps of human-robot collaborative systems. This work presents a telemanipulation-based robot teaching framework that is able to let the robot manipulator cope with the taping tasks with complex workpiece geometries. The proposed framework allows quick calibration, variable motion mapping, and indexing so that the operators can easily set up and guide the robotic taping system to cover the tapes onto the layers and grooves of different workpieces. This framework enables the operators to change the motion mapping scale for both large-scale guidance and fine motion dexterous manipulation. Meanwhile, an indexing function makes it possible for the operators to re-map their poses from the edges of their comfortable regions. A portable VR system is applied in the telemanipulation system. With its six DoF motion precisely measured in real-time, the proposed motion remapping algorithms enable the operators to directly guide the robot in their selected scales. Experimental results show that the proposed framework facilitates robot programming on the manipulation of the complex workpieces that have multi-layer surfaces and grooves in between. It also reduces the teaching time comparing to other methods. This system and method improve teaching efficiency and convenience, which has potential value to be deployed in manufacturing.

传统的机器人教学方法繁琐，繁琐并且难以扩展以用于高混合小批量应用。胶带遮盖是等离子喷涂，喷涂和喷丸处理之前的一种常见的表面保护工艺，是由于任务复杂而机器人自动化缺乏灵活性和可靠性的领域之一。幸运的是，它仍然处于人机协作系统的控制范围之内。这项工作提出了一个基于远程操纵的机器人教学框架，该框架能够使机器人操纵器应对复杂工件几何形状的编带任务。提出的框架允许快速校准，可变运动映射和索引，以便操作员可以轻松地设置和引导机器人编带系统，以将胶带覆盖到不同工件的层和凹槽上。该框架使操作员可以更改运动映射比例，以进行大规模制导和精细运动灵巧操作。同时，索引功能使操作员可以从其舒适区域的边缘重新映射其姿势。便携式VR系统被应用在远程操纵系统中。通过实时精确测量其六个自由度运动，提出的运动重映射算法使操作员可以直接在选定的比例尺上引导机器人。实验结果表明，提出的框架有助于机器人编程操作复杂的工件，这些工件之间具有多层表面和凹槽。与其他方法相比，它还减少了教学时间。该系统和方法提高了教学效率和便利性，