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

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Teaching
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Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Real-time modification method of position and force teaching information in a human-robot cooperative system. / Motoi, Naoki; Kubo, Ryogo; Shimono, Tomoyuki.

In: IEEJ Transactions on Industry Applications, Vol. 135, No. 5, 01.05.2015, p. 503-512.

Research output: Contribution to journalArticle

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