Real-time modification method of position and force teaching information in a human-robot cooperative system

Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono

    Research output: Contribution to journalArticle

    1 Citation (Scopus)

    Abstract

    This paper proposes a real-time modification method of position and force teaching information in a human-robot cooperative system. In this study, human motion is recorded using bilateral control to obtain position and force teaching information. When the recorded information is reproduced, a human operator can add an operation to modify the teaching information. Because of the ability to modify the teaching information, it is possible to create variations in the motion to accommodate environmental changes. On the other hand, without the modification by the operator, the original recorded motion is achieved. In the proposed method, the operator focuses on modifying the teaching information in order to realize the desired motion. The validity of the proposed method is confirmed by experimental results.

    Original languageEnglish
    Pages (from-to)503-512
    Number of pages10
    Journalieej transactions on industry applications
    Volume135
    Issue number5
    DOIs
    Publication statusPublished - 2015 May 1

    Keywords

    • Bilateral control
    • Human-robot cooperative system
    • Motion control
    • Real-time modification

    ASJC Scopus subject areas

    • Industrial and Manufacturing Engineering
    • Electrical and Electronic Engineering

    Fingerprint Dive into the research topics of 'Real-time modification method of position and force teaching information in a human-robot cooperative system'. Together they form a unique fingerprint.

  • Cite this