Easy robot programming for industrial manipulators by manual volume sweeping
Easy robot programming for industrial manipulators by manual volume sweeping
复制标题
通过手动体积扫描轻松实现工业机械手的机器人编程
DOI：
10.1109/robot.2008.4543546
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
S. Makita
中科院分区：
文献类型：
--
作者：
Y. Maeda;T. Ushioda;S. Makita
在本文中，我们提出了一种用于工业机械手的机器人编程方法。它使人类操作新手能够在短时间内教授“良好”的机器人动作。首先，在该方法中，操作员让机器人操纵器通过其身体扫过一个体积。机械臂手腕处装有力传感器，并进行阻尼控制；操作员可以通过抓住其末端执行器来自由移动它。扫掠体积代表机械手自由空间的一部分，因为机械手已经穿过该体积而没有发生碰撞。接下来，运动规划器使用获得的扫掠体积自动生成机械臂的优化路径。最后，机械臂执行计划的运动。即使不熟练的操作员也可以通过执行上述步骤以短循环时间生成机器人动作。我们的方法的有效性在教学实验中成功地得到了证明，并与其他传统方法进行了比较。
In this paper, we propose a robot programming method for industrial manipulators. It enables novice human operators to teach "good" robot motions in a short period of time. First in this method, a human operator makes a robot manipulator sweep a volume by its bodies. The manipulator is equipped with a force sensor on its wrist and damping-controlled; the operator can move it freely by grasping its end-effector. The swept volume stands for a part of the manipulator's free space, because the manipulator has passed through the volume without collisions. Next, the obtained swept volume is used by a motion planner to generate a well-optimized path of the manipulator automatically. Finally, the planned motion is executed by the manipulator. Even non-skilled operators can generate robot motions with short cycle time by doing the above procedure. The effectiveness of our method is successfully demonstrated in teaching experiments for a comparison with other conventional methods.
从主从操纵到自主远程操作的在线过渡
DOI：
--
发表时间：
2004
期刊：
Proc.IEEE Int.Conf.Robotics and Automation
影响因子：
--
作者：
Tsutomu Hasegawa;Kousuke Nakagawa;Kouji Murakami
通讯作者：
Kouji Murakami