Hammer: An Android based application for end-user industrial robot programming

This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and created for Android OS. It is a visual programming concept that allows non-skilled programmer operators to create programs. The application also allows to monitor the tasks while it is being executed by overlapping real time information through augmented reality. The application includes a teach pendant screen that can be customized according to the operator needs at every moment.

I. Introduction

Currently only about 3% of the overall industrial robots employed in industry are used for machining. This is quite in opposition to the market potential and benefits of the industrial robot machining applications. It has been widely recognized that inherent 5+ axis machining capability combined with flexibility, large work envelope, multiple station capability and appropriate HMI is a flexible solution that allows end-user to expand the range of machining applications at a price much competitive to that of employing a traditional CNC machine [1]. With the recent dynamic cost reduction and performance optimization of modern industrial robots, the price of a comparable robotic solution is typically 1/5–1/3 of the cost of a CNC machine. Integration of two or more robots into flexible multi-stationed and multi-tolled robotic machining cells may result in significantly lower cost investments in comparison to employing large CNC machines. Based on several studies, the two underlying technical limitations for a widespread adoption of robotic machining are insufficient robustness of robotic structures (insufficient precision and stiffness) and lack of efficient programming tools that transfer CAD models into robot motion.