Authors
Quang-Trung Chu1, Hiroki Tanaka1, Hideki Inuzuka1, Yoshifumi Morita1, *, Masao Sakai2
1Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
2Industrial Research Center, Aichi Center for Industry and Science Technology, Onda-cho 1-157-1, Kariya-shi Aichi 448-0013, Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Yoshifumi Morita
Received 26 November 2019, Accepted 9 June 2020, Available Online 31 December 2020.
DOI
https://doi.org/10.2991/jrnal.k.201215.002
Keywords
Direct teaching method; hybrid position/force control; teaching pendant; robot manipulator
Abstract
In this study, a parallel wire-type teaching device with a force sensor and a hybrid position/force teaching and control method are developed to facilely teach robot manipulators using human hands instead of teaching pendants. A direct teaching method based on a hybrid position/force control is proposed to teach robots the desired position and force trajectories. The effectiveness of the developed device and method in teaching the robot manipulator is confirmed experimentally.
Copyright
© 2020 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).


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