Contextual visualizations for debugging collaborative robots

Collaborative robots, commonly known as lightweight industrial robots, have become indispensable in manufacturing environments. The growing complexity of work cells necessitates the development of improved techniques, methodologies, and tools for their creation, optimization, and debugging. This tool paper explores the application of dynamic visualizations for the debugging process using domain-specific knowledge. These visualizations are tailored for debugging collaborative robots, focusing on pick-and-place applications, and are integrated into a proof-of-concept tool. Demonstrating the tool's utility, we showcase its ability to enable operators to assert the correctness of the robot's behavior and identify program failures using several case studies.