Workshop: Exploring AR-enabled Human-Robotic Collaboration System for Collaborative Assembly Tasks.

CAADRIA 2024 @ Singapore University of Technology And Design

20-22 April 2021

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Overview

Day 1

• Hands-on Exercise: Collaborative assembly exercise to construct small scale Voronoi structure.
• Hands-on Exercise: Collaborative assembly exercise to construct medium scale Voronoi structure.
• Technical Induction: Surrounding using cooperative robotic arm.
• Hands-on Exercise: Collaborative assembly exercise with cooperative robotic arm in Freedrive mode.
• Group discussion: "How cooperative robotic arm could be used to effectively support architectural designers in collaborative assembly tasks?"
• Digital Exercise: Create a "pick and place" procedure using grasshopper.

Day 2

• Techinical induction surrounding using Microsoft Hololens 2.
• Demo: Getting participants to try different AR interactive features that offered by Microsoft Hololens 2.
• Digital Exercise: Download Fologram to participants' workstations.
• Digital Exercise: Create a virtual widget that can be used to establish robot waypoints.
• Digital Exercise: Create a virtual button to send robot command to cooperative robotic arm, UR10.
• Group Discussion: How AR could be used to facilitate bi-directional communication between architectural designers and cooperative robotic arm?

Day 3

• Group Discussion: Explode different design briefs.
• Hands-on Exercise: Get acquainted with the developed AR-enabled HRC system.
• Hands-on Exercise: Construct lightweight structured using the developed AR-enabled HRC system alongside with UR10.
• Group Discussion: Reflecting of the construction process as well as the developed AR-enabled HRC system.
• Closing remark.

Requirements

• Minimum OS: Windows 10/11
• Rhino 7/8 & Grasshopper

Installation

• We use Rhinoceros 3D and Grasshopper to communicate with the cooperative robotic arm, UR10.
• We use grasshopper plugin such as “Robot” to establish connection with the UR10, and Fologram plugin to establish a mixed reality platform.