Augmented Reality (AR) technology has been effectively utilized to support various manual operations in the manufacturing industry. An important application is serving as a user interface for human-robot collaboration. This paper presents an experimental study on the feasibility of robot programming by demonstration (PbD) through AR interfaces in the context of manufacturing. Our focus is on comparing the pointing and line tracing processes using three input methods provided by an AR headset: hand ray, head gaze, and eye gaze, based on both objective and subjective measures obtained from the experiment. The hand ray method performs the best in terms of accuracy, precision, and completion time in most experimental conditions. The SUS and NASA-TLX scores indicate acceptable usability for the hand ray method but low usability for the others. A prototyping AR tool using the hand ray as non-contact input in the real world is developed for motion planning of an industrial robotic arm. A test case of tire mold welding verifies the feasibility of the AR tool while also showing its limited capability in precision manufacturing. This work demonstrates a new approach for robot PbD on tangible objects enabled by AR.

中文翻译：

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通过制造演示对机器人编程的增强现实接口进行实验分析

增强现实（AR）技术已被有效利用来支持制造业的各种手动操作。一个重要的应用是用作人机协作的用户界面。本文提出了一项关于在制造环境中通过 AR 接口进行机器人演示编程 (PbD) 可行性的实验研究。我们的重点是根据实验中获得的客观和主观测量结果，使用 AR 耳机提供的三种输入方法（手光、头部注视和眼睛注视）来比较指向和线条追踪过程。在大多数实验条件下，手射线方法在准确性、精密度和完成时间方面表现最好。 SUS 和 NASA-TLX 分数表明手射线方法的可用性可接受，但其他方法的可用性较低。开发了一种原型 AR 工具，使用手部射线作为现实世界中的非接触式输入，用于工业机器人手臂的运动规划。轮胎模具焊接测试案例验证了AR工具的可行性，同时也展示了其在精密制造方面的有限能力。这项工作展示了一种通过 AR 支持的有形物体上的机器人 PbD 的新方法。