  This paper presents a novel framework enabling end-users to perform the
management of complex robotic workplaces using a tablet and augmented reality.
The framework allows users to commission the workplace comprising different
types of robots, machines, or services irrespective of the vendor, set
task-important points in space, specify program steps, generate a code, and
control its execution. More users can collaborate simultaneously, for instance,
within a large-scale workplace. Spatially registered visualization and
programming enable a fast and easy understanding of workplace processes, while
high precision is achieved by combining kinesthetic teaching with specific
graphical tools for relative manipulation of poses. A visually defined program
is for execution translated into Python representation, allowing efficient
involvement of experts. The system was designed and developed in cooperation
with a system integrator based on an offline printed circuit board testing use
case, and its user interface was evaluated multiple times during the
development. The latest evaluation was performed by three experts and indicates
the high potential of the solution.
