Task teaching system for a force-controlled parallel robot using multiple teaching modes with human demonstration data

Daisuke Sato, Ryosuke Kobayashi, Akira Kobayashi, Masaru Uchiyama

    研究成果: Conference contribution

    3 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
    ページ3960-3965
    ページ数6
    DOI
    出版ステータスPublished - 2006 12 27
    イベント2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
    継続期間: 2006 5 152006 5 19

    出版物シリーズ

    名前Proceedings - IEEE International Conference on Robotics and Automation
    2006
    ISSN(印刷版)1050-4729

    Other

    Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
    国/地域United States
    CityOrlando, FL
    Period06/5/1506/5/19

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学
    • 人工知能
    • 電子工学および電気工学

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