TY - JOUR
T1 - Real-time modification method of position and force teaching information in a human-robot cooperative system
AU - Motoi, Naoki
AU - Kubo, Ryogo
AU - Shimono, Tomoyuki
N1 - Publisher Copyright:
© 2015 The Institute of Electrical Engineers of Japan.
PY - 2015/5/1
Y1 - 2015/5/1
N2 - 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.
AB - 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.
KW - Bilateral control
KW - Human-robot cooperative system
KW - Motion control
KW - Real-time modification
UR - http://www.scopus.com/inward/record.url?scp=84929391726&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929391726&partnerID=8YFLogxK
U2 - 10.1541/ieejias.135.503
DO - 10.1541/ieejias.135.503
M3 - Article
AN - SCOPUS:84929391726
VL - 135
SP - 503
EP - 512
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 5
ER -