IEEE Robotics & Automation Magazine - June 2021 - 110

110 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2021
3 min
3 min
2 min 30 s
2 min
2 min 30 s
2 min
3 min 20 s
Programming Time
Configuration Time
(a)
11 min 40 s
10 min
8 min 20 s
6 min 40 s
5 min
Programming Time
5 min
4 min 10 s
3 min 20 s
2 min 30 s
1 min 40 s
Configuration Time
(c)
11 min 40 s
10 min
8 min 20 s
6 min 40 s
5 min
Other
5 min 20 s
4 min 40 s
4 min
3 min 20 s
3
8
Programming Time
Configuration Time
(d)
Number of
Participants
Having Finished
the Subtask
1
4 min
3 min 20 s
53 min 20 s
Other
56 min 40 s
3
8
5 min 20 s
5
3
4 min 40 s
8
60 min
5
Other
8 min 20 s
6 min 40 s
5 min
6 s
5 s
4 s
3 s
Programming Time
5 min
5 min
3 min 20 s
3 min 20 s
1 min 40 s
1 min 40 s
Configuration Time
(b)
Other
Groups
AB C
Figure 6. The experimental time distributions with respect to different tasks [(a)-(d)] and levels of expertise (colored boxes, with quartiles above and below the median in each case).
A total of 12 participants managed to complete all tasks within 1 h 45 min, and four more participants completed all tasks except programming the robot. All participants were able to
complete the three first tasks within 1 h. For simple tasks, such as (a) task 1, the UR5 arm integration and motion, and (b) task 2, the kinematics/motion-planning reconfiguration, the
task robot configuration and programming times are similar regardless of the expertise of users; this can be attributed to the intuitive GRIP GUI. However, the level of expertise does affect
the time required to complete more complex tasks, such as (c) task 3, the pick-and-place with the UR10 and dexterous hand, and (d) task 4, the implementation of autonomous pick and
place. The general trend is that the time spent to read and assimilate the documentation (denoted " other " ) is inversely related to the level of expertise.

IEEE Robotics & Automation Magazine - June 2021

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2021

Contents
IEEE Robotics & Automation Magazine - June 2021 - Cover1
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IEEE Robotics & Automation Magazine - June 2021 - Cover3
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