GUI Graphical User Interface GUI J. Rasumussen K.J. Vicente Ecological Interface Design EID 10), 11) EID 12) GUI Hie

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1 GUI Vol.47, No.12, 656/ Configural Display to Support Position Teaching to Industrial Robot Yukio Horiguchi, Kohei Kurono, Hiroaki Nakanishi, Tetsuo Sawaragi, Tatsuya Nagatani, Akio Noda and Ken ichi Tanaka For the purpose of developing a practical support tool for human workers engaged in industrial robot teaching, the work domain of position teaching is analyzed in terms of means-end relations. In this work domain analysis, a mechanical explanation model is introduced to capture the force-displacement relationship inherent in and thus informative on the work system. The model is utilized for the investigation of the robot operators decisions in search of accurate operation positions and clarifies a basic strategy making use of a characteristic frame of reference in the search space. Based on the analytical results, a prototype display is developed that can provide effective information supports. The display presents the activity-related information in a way that affords the robot operators strategic operations and thus can successfully reduce task time and operational errors in a teaching work. Key Words: online robot teaching, task analysis, work domain analysis, ecological interface design 1. 1) Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto Advanced Technology R&D Center, Mitsubishi Electric Corporation, Tsukaguchihonmachi, Amagasaki Received April 20, 2011 Revised September 9, ) 4) 5) 6) 8) 2), 7), 8) 9) TR 0012/11/ c 2011 SICE

2 GUI Graphical User Interface GUI J. Rasumussen K.J. Vicente Ecological Interface Design EID 10), 11) EID 12) GUI Hierarchial Task Analysis Hierarchical Task Analysis HTA 1 13) HTA HTA 14) Work Domain Analysis Work Domain Analysis WDA abstraction hierarchy decomposition hierarchy 2 14), 15) 2 Abstraction-Decomposition Space ADS Fig. 1 Basic parts handling operation Rasmussen 5 15) Functional Purpose Abstract Function Generalized Function Physical Function Physical Form means-ends links 16) part-whole links HTA WDA 14) ) Fig HTA HTA Fig. 2

3 658 T. SICE Vol.47 No.12 December 2011 Fig. 2 Hierachy of robot programming task focusing on emplacement position teaching 17) Fig. 2 Fig. 2 1 ( ) P S Fig P S / 4.2 Q R / 4.3 Q R S R S 4.1 P S 3 4 (A) (B) (C) (D) (A) (B) (C) (D) (B) WDA WDA ADS Fig. 3

4 Fig. 3 ADS of operation positions teaching work GUI (C)

4 MELFA RV-6SL 6 IFS-67M Z Z 3. 3. 2 GUI Fig.

3 18) 0 19) Fig. 4 Test environment Fig.

5 660 T. SICE Vol.47 No.12 December Fig. 4 MELFA RV-6SL 6 IFS-67M Z Z GUI Fig. 5 A B l X F X Y l M Y /l F Y M X/l l 1 / ) 0 19) Fig. 4 Test environment Fig. 5 Visualization of force exerting on the robot s wrist C

6 Fig. 6 Performances with and without force information Fig. 7 Cantilever model for analysis of position teaching work 3 Z X Y 4 LOW 0.01 mm 0.01 deg GUI 1.0 N 0.15 Nm 40 mm 25 mm 10 µm c GUI 3 3 GUI 1 6 Fig. 6(a) Fig. 6(b) Fig. 6 GUI W/ GUI GUI GUI GUI Fig. 7 h σ θ σ θ F M σ = 1 ( 1 EI 3 Fh3 1 ) 2 Mh2 1 θ = 1 ( 1 ) EI 2 Fh2 + Mh 2 20) E I 2 F =12EI σ h 3 +6EI θ h 2 3 M =6EI σ h +4EI θ 4 2 h σ θ F 3 (3) (4)

7 662 T. SICE Vol.47 No.12 December 2011 Fig. 8 State trajectory in search of an accurate motion point Fig. 9 State trajectory including erroneous operations F =0 M =0 (3)(4) F = M/l l 3(2l h)δ +(3l 2h)θ =0 5 δ-θ 4. 2 Y A X X B Y Fig. 8 Y A (0, 0) A Y A F Y M X 0 Fig. 7 Fig. 5 l Fig. 8 Fig. 8 Fig. 9 Fig. 10 Target position identified as the intersection point of two lines a state trajectory made out 4. 3 h E I δ θ 0 Fig. 5 Fig F =0 M =0 F = M/l (δ, θ) =(0, 0) Fig. 10 F =0 F = M/l X Y A B

47 12 2011 12 663 5 Fig. 10 X B Y A F =0 F = M/l Fig. 11 Developed GUI F =0 F = M/l Fig. 10 F =0 F = M/l δ-θ 5. GUI GUI GUI 5. 1 GUI GUI Fig. 11 GUI 1 (F X,F Y ) (M Y /l, M X/l) Fig.

8 Fig. 10 X B Y A F =0 F = M/l Fig. 11 Developed GUI F =0 F = M/l Fig. 10 F =0 F = M/l δ-θ 5. GUI GUI GUI 5. 1 GUI GUI Fig. 11 GUI 1 (F X,F Y ) (M Y /l, M X/l) Fig. 5 GUI Fig. 5 GUI F = M/l l F = M/l F =0 F = M/l l F M M/l 1 GUI GUI EID GUI 1 2 GUI GUI PD Physical Display 5. 2 GUI EID PD 2 GUI F X F Y 0.5 N M X M Y 0.05 Nm 3 GUI l l 3

9 664 T. SICE Vol.47 No.12 December Fig. 12 Comparison of teaching performance between EID and PD conditions (**p <0.03) EID PD GUI GUI Fig. 12(a) Fig. 12(b) EID EID t 3% P =1.35% 5. 3 PD GUI EID distributed cognition 21) resources model 22) GUI GUI 19), 23) Fig. 7 GUI GUI GUI GUI 4.1 GUI / 4.2 / 4.3 Fig. 7 GUI 19) NEDO 1 (1999) , 180/185 (1999) /184 (2008) 4 191, 35/40 (2009) , 752/763 (2004) 6 (C ) , 4107/4113 (1999)

47 12 2011 12 665 7 24-4, 554/562 (2006) 8 26 1N3-04 (2008) 9 9-6, 110/114 (1991) 10 K.J.

Rasmussen: The ecology of humanmachine systems II: Mediating direct perception in complex

Hajdukiewicz: Ecological Interface Design, CRC Press (2004) 12 10-3, 35/49 (2008) 13 A.

Vicente: Cognitive Work Analysis: Toward Safe, Productive, and Healthy Computer-Based Work,

Rasmussen: Information Processing and Human- Machine Interaction: An Approach To Cognitive

10 , 554/562 (2006) N3-04 (2008) 9 9-6, 110/114 (1991) 10 K.J. Vicente and J. Rasmussen: The ecology of humanmachine systems II: Mediating direct perception in complex work domains. Ecological Psychology, 2-3, 207/249 (1990) 11 C.M. Burns and J.R. Hajdukiewicz: Ecological Interface Design, CRC Press (2004) , 35/49 (2008) 13 A. Shepherd: Hierarchical Task Analysis, Taylor&Francis (2000) 14 K.J. Vicente: Cognitive Work Analysis: Toward Safe, Productive, and Healthy Computer-Based Work, Lawrence Erlbaum Assoc Inc (1999) 15 J. Rasmussen: Information Processing and Human- Machine Interaction: An Approach To Cognitive Engineering, North-Holland (1986) 16 J. Rasmussen, A.M. Pejtersen and L.P. Goodstein: Cognitive Systems Engineering, Wiley-Interscience (1994) 17 RV-6S BFP- A8312-D 18 2, (2004) 19 GUI (2010) 20 (1991) 21 E. Hutchins: Cognition in the Wild, The MIT Press (1995) 22 P.C. Wright, R.E. Fields and M.D. Harrison: Analyzing human-computer interaction as distributed cognition: The resources model, Human-Computer Interaction, 15-1, 1/41 (2000) 23 GUI A1-F21 (2010) Human Factors and Ergonomics Society IEEE IEEE IEEE 2006 FA 1987 ( ) 2002 FA 1981 ( )

IPSJ SIG Technical Report Vol.2012-CG-148 No /8/29 3DCG 1,a) On rigid body animation taking into account the 3D computer graphics came

IPSJ SIG Technical Report Vol.2012-CG-148 No /8/29 3DCG 1,a) On rigid body animation taking into account the 3D computer graphics came 3DCG 1,a) 2 2 2 2 3 On rigid body animation taking into account the 3D computer graphics camera viewpoint Abstract: In using computer graphics for making games or motion pictures, physics simulation is