Teaching of grasp/graspless manipulation for industrial robots by human demonstration

Yusuke Maeda, Nanako Ishido, Haruka Kikuchi, Tamio Arai

研究成果: Paper査読

24 被引用数 (Scopus)

抄録

In this paper, we propose a simple teaching method for industrial robots by human demonstration. The method can be divided into two parts: the teaching phase and the planning phase. In the teaching phase, a human operator demonstrates a manipulation of an object, and two cameras recognize the path of the object by observing markers attached on the object. In the planning phase, a motion planner generates a sequence of robot operations to play back the demonstrated path by pick-and-place and pushing. The proposed method incorporates automated camera calibration required for human demonstration, which enables labor-saving teaching and compensates the absolute positional error of industrial robots. In the experiments, each of demonstrated manipulations was reproduced successfully as a combination of pick-and-place and pushing by one or two robot manipulators.

本文言語English
ページ1523-1528
ページ数6
出版ステータスPublished - 2002 1月 1
外部発表はい
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
継続期間: 2002 9月 302002 10月 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域Switzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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