TY - GEN
T1 - Task teaching system for a force-controlled parallel robot using multiple teaching modes with human demonstration data
AU - Sato, Daisuke
AU - Kobayashi, Ryosuke
AU - Kobayashi, Akira
AU - Uchiyama, Masaru
PY - 2006/12/27
Y1 - 2006/12/27
N2 - A purpose of this paper is to expedite onerous initial procedures when a force-controlled parallel robot is taught task motions by the off-line task teaching/playback system which we have developed to realize the motion planning suitable for tasks and playback task motions dexterously. In this teaching system, the numerical teaching method has been employed to give detailed descriptions of the motion parameters, but it brings out a trade-off between fine-tuning and complication. Therefore, new devices and functions are added to the teaching system and multiple teaching modes are implemented for solving this problem. The main feature is the use of task teaching with human demonstration data which are obtained in real and virtual human motion measurement systems. The initial teaching data are generated by the demonstration data and the robot commands are converted into them with the control parameters. Typical task is demonstrated and we verify the effectiveness of the teaching modes experimentally.
AB - A purpose of this paper is to expedite onerous initial procedures when a force-controlled parallel robot is taught task motions by the off-line task teaching/playback system which we have developed to realize the motion planning suitable for tasks and playback task motions dexterously. In this teaching system, the numerical teaching method has been employed to give detailed descriptions of the motion parameters, but it brings out a trade-off between fine-tuning and complication. Therefore, new devices and functions are added to the teaching system and multiple teaching modes are implemented for solving this problem. The main feature is the use of task teaching with human demonstration data which are obtained in real and virtual human motion measurement systems. The initial teaching data are generated by the demonstration data and the robot commands are converted into them with the control parameters. Typical task is demonstrated and we verify the effectiveness of the teaching modes experimentally.
UR - http://www.scopus.com/inward/record.url?scp=33845640184&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2006.1642309
DO - 10.1109/ROBOT.2006.1642309
M3 - Conference contribution
AN - SCOPUS:33845640184
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3960
EP - 3965
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -