3D graphics-based off-line task teaching for a force-controlled high-speed parallel robot

D. Sato, Y. Ishii, T. Shitashimizu, D. Kim, M. Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    Abstract

    In this paper, we report an approach to teach tasks to a high-speed parallel robot, HEXA, which is controlled for the position, force, and compliance all. To employ the force/compliance controlled robots for the industrial applications, it is necessary that there should be some methods to set the desired force and compliance parameters according to the tasks to carry out. Moreover, such a method should facilitate a task teaching approach, reducing the operator's labor, but with very effective results. To fulfill these requirements, we have developed a graphics-based off-line task teaching system that utilizes a 3D graphics simulator and graphics control panels. With this teaching system, we have experimentally implemented two typical tasks of crank turning and surface tracking with the parallel robot HEXA. From the achieved results, we could conclude the effectiveness of the proposed task teaching approach.

    Original languageEnglish
    Pages122-127
    Number of pages6
    Publication statusPublished - 2001 Jan 1
    Event2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001) - Fukuoka, Japan
    Duration: 2001 May 282001 May 29

    Other

    Other2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001)
    CountryJapan
    CityFukuoka
    Period01/5/2801/5/29

    ASJC Scopus subject areas

    • Engineering(all)

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