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

Yusuke Maeda, Nanako Ishido, Haruka Kikuchi, Tamio Arai

研究成果: Paper

23 引用 (Scopus)

抜粋

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.

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

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Switzerland
Lausanne
期間02/9/3002/10/4

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Maeda, Y., Ishido, N., Kikuchi, H., & Arai, T. (2002). Teaching of grasp/graspless manipulation for industrial robots by human demonstration. 1523-1528. 論文発表場所 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.