Robots are widespread across diverse application contexts. Teaching robots to perform tasks, in their respective contexts, demands a high domain and programming expertise. However, robot programming faces high entry barriers due to the complexity of robot programming itself. Even for experts robot programming is a cumbersome and error-prone task where faulty robot programs can be created, causing damage when being executed on a real robot. To simplify the process of robot programming, we combine Augmented Reality (AR) with principles of end-user development. By combining them, the real environment is extended with useful virtual artifacts that can enable experts as well as non-professionals to perform complex robot programming tasks. Therefore, Simple Programming Environment in Augmented Reality with Enhanced Debugging (SPEARED) was developed as a prototype for an AR-assisted robot programming environment. SPEARED makes use of AR to project a robot as well as a programming environment onto the target working space. To evaluate our approach, expert interviews with domain experts from the area of industrial automation, robotics, and AR were performed. The experts agreed that SPEARED has the potential to enrich and ease current robot programming processes.

翻译：机器人在不同的应用环境中十分广泛。 教机器人执行任务需要高域和高编程专长。 但是,机器人编程由于机器人编程本身的复杂性而面临很高的进入障碍。 即使专家机器人编程也是繁琐和容易出错的任务,因为可以创建错误的机器人程序,在实际机器人执行时会造成损害。 为了简化机器人编程过程,我们将增强现实(AR)与终端用户开发原则结合起来。 通过将它们结合起来,真正的环境会扩展为有用的虚拟艺术品,使专家和非专业人员能够执行复杂的机器人编程任务。 因此,在强化调试中增强现实的简易编程环境(SPEREED)被开发为AR辅助机器人编程环境的原型。 SPEREED利用AR将机器人和编程环境投入目标工作空间。 为了评估我们的方法,与工业自动化、机器人和AR领域的域专家进行了专家访谈。 专家们一致认为,SPEREEED具有丰富和方便当前机器人编程过程的潜力。