@inproceedings{HodappAndulkarReichlingetal., author = {Hodapp, Jan and Andulkar, Mayur and Reichling, Thorsten and Berger, Ulrich}, title = {Improvements in Robot Teaching for Handling Operations in Production Environments}, series = {International Symposium on Robotics, ISR 2018, June 20-21, 2018 Messe M{\"u}nchen, Entrance East, Munich, Germany}, booktitle = {International Symposium on Robotics, ISR 2018, June 20-21, 2018 Messe M{\"u}nchen, Entrance East, Munich, Germany}, publisher = {VDE Verlag}, address = {Berlin [u.a.]}, isbn = {978-3-8007-4699-6}, pages = {408 -- 413}, abstract = {This work describes three technical improvements to the handling assistant, a collaborative robot for handling and commissioning, concerning the depth of information the robot can extract from the teaching process. The teaching process involves an unskilled worker setting up the robots movements and actions through hand guiding to instruct the robot to perform a given task. The possibilities of improvements in picking, placement and path demonstrated are identified and solutions for the same are presented. The task of picking of the part is improved through the use of null space motion of the robot and exploiting part symmetry. The task of placement of parts is improved through the use of data collected during the demonstration. Finally the path of the robot is optimized using regression with a cost function targeted minimizing the time required for path movement. The developed methods are implemented and validated on a test case using a handling assistant which has a KUKA iiwa robot and collaborative gripper.}, language = {en} }