ABSTRACT
Intuitive programming concepts allow non-experts to undertake programming tasks. The usability of the augmented reality (AR) interaction concept was evaluated in a user study in comparison to the usability of a tablet computer control. Robot programming can be divided into manual and automatic programming. A graphical user interface (GUI) on a tablet computer is used to parameterize skills, sequence them to tasks and finally execute and monitor those tasks. For the communication between humans and robots, interfaces are necessary to translate from human language to language understood by the robot. Human-robot interfaces can be distinguished in GUIs, tangible user interfaces and natural user interfaces. The AR interaction concept requires a robot to be equipped with some kind of force sensor to register the forces working upon the end-effector. Different designs of the virtual elements were considered under the aspects of intuitiveness and visibility.
