2A1-A14 ロボット教示作業支援のための複合情報GUIの開発 : 精確な動作点教示のための力情報利用の検討 2A1-A14 Composite Information Display for Assistance of Online Robot Teaching : Utilization of Force Information for Teaching Accurate Motion Points
Conventional methods of online robot teaching have difficulity for the teaching operator to detect accurate positional errors between the hand and a workpiece. For the purpose of developing practical supports for online robot teaching, this study investigates information requirements of the operator's work and then discusses their effective visualization of data from a camera and a force sensor attached to the robot's wrist. Hierarchical Task Analysis is applied to the operator's task in defining positions and postures of the hand against actual workpieces, to extract specific pieces of information or relationship that should be incorporated into the visual assistance. Considering these information requirements, we propose a GUI to visualize the force information in order to find accurate motion points effectively. The proposed GUI can help the operators to figure out motion points more precisely, and can reduce the amount of time for robot teaching.
ロボティクス・メカトロニクス講演会講演概要集 2009(0), _2A1-A14_1-_2A1-A14_4, 2009