空間掃引を用いた産業用マニピュレータの教示  [in Japanese] Teaching of Industrial Manipulators by Manual Volume Sweeping  [in Japanese]

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Author(s)

Abstract

In this paper. we propose a robot teaching method for industrial manipulators. It enables novice human operators to teach “good” robot motions in a short period of time. First in this method, a human operator makes a robot manipulator sweep a volume by its bodies. The manipulator is equipped with a force sensor on its wrist and damping-controlled ; the operator can move it freely by grasping its end-effector. The swept volume stands for (a part of) the manipulator's free space, because the manipulator has passed through the volume without collisions. Next, the obtained swept volume is used by a motion planner to generate a well-optimized path of the manipulator automatically. Finally, the planned motion is executed by the manipulator. Even non-skilled operators can generate robot motions with short cycle time by doing the above procedure. The effectiveness of our method was successfully demonstrated in teaching experiments for a comparison with other conventional methods.

Journal

  • TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 74(737), 115-120, 2008

    The Japan Society of Mechanical Engineers

Codes

  • NII Article ID (NAID)
    130004085042
  • Text Lang
    JPN
  • ISSN
    0387-5024
  • Data Source
    J-STAGE 
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