Kinesthetic Teaching in Assembly Operations - A User Study
Kinesthetic Teaching in Assembly Operations - A User Study
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装配操作中的动觉教学 - 用户研究
DOI：
10.1007/978-3-319-11900-7_45
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Daniel Kubus
中科院分区：
文献类型：
--
作者：
Arne Muxfeldt;Jan;Daniel Kubus
动力学教学是使用示范（PBD）范式编程机器人进行编程机器人的常用方法。它被广泛认为是用于机器人编程的直观方法，可以由商店的工人执行。到目前为止，这一领域的许多研究都集中在采摘任务上，而苛刻的组装任务受到了较少的关注。尽管如此，在各种贡献中，动力学教学被用来通过得出轨迹，交配力等来洞悉人类集会策略，以评估动力学教学与手动组装之间的差异，我们在工业集会任务的背景下进行了78项研究。参与者有四个不同的任务。我们的结果证实了归因于运动学教学的学习的易用性，但也表明，尝试使用这种方法转移人体组装策略可能会遭受重大缺陷。
Kinesthetic teaching is a commonly employed method for programming robots using the Programming by Demonstration (PbD) paradigm. It is widely regarded as an intuitive approach to robot programming, which can be performed by shop-floor workers. Much research in this area has focused on pick-and-place tasks while demanding assembly tasks have received less attention so far. Nonetheless, in various contributions kinesthetic teaching is utilized to gain insight into human assembly strategies by deriving trajectories, mating forces, etc. To evaluate the discrepancies between kinesthetic teaching and manual assembly in the context of industrial assembly tasks, we conducted a user study with 78 participants featuring four different tasks. Our results confirm the ease of learning attributed to kinesthetic teaching but also suggest that trying to transfer human assembly strategies using this method may suffer from a substantial flaw.