Intuitive programming of dual-arm robot tasks using kinesthetic teaching method

被引：2

作者：

Kim P.K. ^{[1
,2
]}

Park H. ^{[1
,2
]}

Bae J.-H. ^{[2
]}

Park J.-H. ^{[2
]}

Lee D.-H. ^{[2
]}

Park J. ^{[2
]}

Kyung J.-H. ^{[4
]}

Baeg M.-H. ^{[2
]}

机构：

[1] Department of transdisciplinary studies, Seoul National University

来源：

Journal of Institute of Control, Robotics and Systems | 2016年 / 22卷 / 08期

关键词：

Box packing; Dual-arm robot; Kinesthetic teaching;

D O I：

10.5302/J.ICROS.2016.16.0102

中图分类号：

学科分类号：

摘要：

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods. © ICROS 2016.

引用

页码：656 / 664

页数：8

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