TY - GEN
T1 - Direct teaching algorithm based on task assistance for machine tending
AU - Kim, Young Loul
AU - Ahn, Kuk Hyun
AU - Song, Jae-Bok
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - Much research has been done on direct teaching in which an operator directly teaches a robot its task by hand guiding. In this study, we propose a novel algorithm to add virtual stiffness to a robot based on its task without changing the mode of teaching. The proposed algorithm defines the task assistance domains with spherical, cylindrical, and hexahedral shapes depending on the task environment. Inside this domain, stiffness is added to assist the operator in teaching the robot. At the boundary of the task assistance domain, stiffness is gradually changed to avoid the instability due to an abrupt change in stiffness. The proposed method was implemented on a 6 DOF industrial robot performing direct teaching for machine tending to demonstrate its feasibility. The experiments show that the operator can perform direct teaching more efficiently and this algorithm is particularly good for repetitive teaching on a small batch production.
AB - Much research has been done on direct teaching in which an operator directly teaches a robot its task by hand guiding. In this study, we propose a novel algorithm to add virtual stiffness to a robot based on its task without changing the mode of teaching. The proposed algorithm defines the task assistance domains with spherical, cylindrical, and hexahedral shapes depending on the task environment. Inside this domain, stiffness is added to assist the operator in teaching the robot. At the boundary of the task assistance domain, stiffness is gradually changed to avoid the instability due to an abrupt change in stiffness. The proposed method was implemented on a 6 DOF industrial robot performing direct teaching for machine tending to demonstrate its feasibility. The experiments show that the operator can perform direct teaching more efficiently and this algorithm is particularly good for repetitive teaching on a small batch production.
KW - Cooperative manipulators
KW - Force control
UR - http://www.scopus.com/inward/record.url?scp=85000770438&partnerID=8YFLogxK
U2 - 10.1109/URAI.2016.7733996
DO - 10.1109/URAI.2016.7733996
M3 - Conference contribution
AN - SCOPUS:85000770438
T3 - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
SP - 861
EP - 866
BT - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Y2 - 19 August 2016 through 22 August 2016
ER -