Seite - 151 - in Proceedings - OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“

Virtual obstacles (attached to real world 2D – markers can therefore easily be integrated into the environmental model). Figure 7- Augmentation of Virtual Model by Real World Objects Figure 8 -system architecture The force feedback system may not only render force feedback for the user during teach-in. It also can control process forces as e.g. required by the polishing process. Force-Torque information is acquired from the FT-sensor. An external sensor (Figure 9) is used instead of built in robot [9] functionality since force values estimated from required motor currents are too inaccurate due to e.g. gear friction. Process forces can be controlled e.g. for a touch up operation to exact 5N which is well below the detection threshold of the robot (Figure 10). Figure 9- FT-sensor and polishing tool Figure 10- measured process forces 7. Conclusion In this paper we presented the AssistMe project, which aims at enabling more flexible human-robot collaboration in the industrial context through a user-centred design approach. We outlined the overall approach of the project as well as its two use cases: (1) Assembly of automotive combustion engines and (2) Machining (polishing) of continuous casting moulds. We roughly described the main findings from the first end user evaluations which used a state-of-the-art robotic system. An outlook on expansion stages 2 and 3 were motivated and described. 151