Signal processing of direct teaching data for human-robot cooperation
作者： Dong Il Park , Chanhun Park , Jin-Ho Kyung
DOI: 10.1109/ISIE.2010.5637517
关键词: Personal robot 、 Industrial robot 、 Robot 、 Control engineering 、 Engineering 、 SIGNAL (programming language) 、 Process (computing) 、 Human–robot interaction 、 Motion control 、 Robot end effector
摘要: Generally, industrial robot has been used in the automate producing process and repetitive on behalf of human. Recently, interest human-robot cooperative which can work together with human through physical interaction same space increased. Human-robot cooperation technology allow to combine intelligence high performance robot. Also, direct teaching enables an operator who is not programming control easily by task trajectory directly. To improve technology, it important separate precise signal from external FT sensor because inputs command grabbing end-effector sensor. We analyzed data apply algorithm compared various filtering methods obtain smooth capability.
sci-hub.se 参考文章(12)
G. Schreiber, G. Hirzinger, An Intuitive Interface for Nullspace Teaching of Redundant Robots Springer, Dordrecht. pp. 209- 216 ,(2000) , 10.1007/978-94-011-4120-8_22
G. Hirzinger, On the interaction between human hand and robot-from space to surgery robot and human interactive communication. pp. 1- ,(2001) , 10.1109/ROMAN.2001.981867
A. Albu‐Schäffer, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, G. Hirzinger, The DLR lightweight robot : design and control concepts for robots in human environments Industrial Robot-an International Journal. ,vol. 34, pp. 376- 385 ,(2007) , 10.1108/01439910710774386
Myoung Hwan Choi, Woo Won Lee, Quantitative Evaluation of an Intuitive Teaching Method for Industrial Robot Using a Force / Moment Direction Sensor International Journal of Control Automation and Systems. ,vol. 1, pp. 395- 400 ,(2003)
K. Shimokura, Sheng Liu, Programming deburring robots based on human demonstration with direct burr size measurement international conference on robotics and automation. pp. 572- 577 ,(1994) , 10.1109/ROBOT.1994.351238
H. Asada, H. Izumi, Direct teaching and automatic program generation for the hybrid control of robot manipulators Proceedings. 1987 IEEE International Conference on Robotics and Automation. ,vol. 4, pp. 1401- 1406 ,(1987) , 10.1109/ROBOT.1987.1087819
Dong Il Park, Chanhun Park, Jin-Ho Kyung, Design and analysis of direct teaching robot for human-robot cooperation ieee international symposium on assembly and manufacturing. pp. 220- 224 ,(2009) , 10.1109/ISAM.2009.5376967
T. Fukuda, M. Nakaoka, T. Ueyama, Y. Hasegawa, Direct teaching and error recovery method for assembly task based on a transition process of a constraint condition international conference on robotics and automation. ,vol. 2, pp. 1518- 1523 ,(2001) , 10.1109/ROBOT.2001.932826
H. Asada, H. Izumi, Automatic program generation from teaching data for the hybrid control of robots international conference on robotics and automation. ,vol. 5, pp. 166- 173 ,(1989) , 10.1109/70.88037
N. Delson, H. West, Robot programming by human demonstration: the use of human variation in identifying obstacle free trajectories international conference on robotics and automation. pp. 564- 571 ,(1994) , 10.1109/ROBOT.1994.351239