Direct teaching algorithm based on task assistance for machine tending

Young Loul Kim; Kuk Hyun Ahn; Jae-Bok Song

doi:10.1109/URAI.2016.7733996

Direct teaching algorithm based on task assistance for machine tending

Young Loul Kim, Kuk Hyun Ahn, Jae-Bok Song

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

Much research has been done on direct teaching in which an operator directly teaches a robot its task by hand guiding. In this study, we propose a novel algorithm to add virtual stiffness to a robot based on its task without changing the mode of teaching. The proposed algorithm defines the task assistance domains with spherical, cylindrical, and hexahedral shapes depending on the task environment. Inside this domain, stiffness is added to assist the operator in teaching the robot. At the boundary of the task assistance domain, stiffness is gradually changed to avoid the instability due to an abrupt change in stiffness. The proposed method was implemented on a 6 DOF industrial robot performing direct teaching for machine tending to demonstrate its feasibility. The experiments show that the operator can perform direct teaching more efficiently and this algorithm is particularly good for repetitive teaching on a small batch production.

Original language	English
Title of host publication	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	861-866
Number of pages	6
ISBN (Electronic)	9781509008216
DOIs	https://doi.org/10.1109/URAI.2016.7733996
Publication status	Published - 2016 Oct 21
Event	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China Duration: 2016 Aug 19 → 2016 Aug 22

Other

Other	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country	China
City	Xian
Period	16/8/19 → 16/8/22

Keywords

Cooperative manipulators
Force control

ASJC Scopus subject areas

Modelling and Simulation
Artificial Intelligence
Control and Optimization

Access to Document

10.1109/URAI.2016.7733996

Fingerprint Dive into the research topics of 'Direct teaching algorithm based on task assistance for machine tending'. Together they form a unique fingerprint.

Cite this

Direct teaching algorithm based on task assistance for machine tending. / Kim, Young Loul; Ahn, Kuk Hyun; Song, Jae-Bok.

2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 861-866 7733996.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, YL, Ahn, KH & Song, J-B 2016, Direct teaching algorithm based on task assistance for machine tending. in 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016., 7733996, Institute of Electrical and Electronics Engineers Inc., pp. 861-866, 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Xian, China, 16/8/19. https://doi.org/10.1109/URAI.2016.7733996

@inproceedings{ecb6305f8e7741beaf5eecb5b524fc7e,

title = "Direct teaching algorithm based on task assistance for machine tending",

abstract = "Much research has been done on direct teaching in which an operator directly teaches a robot its task by hand guiding. In this study, we propose a novel algorithm to add virtual stiffness to a robot based on its task without changing the mode of teaching. The proposed algorithm defines the task assistance domains with spherical, cylindrical, and hexahedral shapes depending on the task environment. Inside this domain, stiffness is added to assist the operator in teaching the robot. At the boundary of the task assistance domain, stiffness is gradually changed to avoid the instability due to an abrupt change in stiffness. The proposed method was implemented on a 6 DOF industrial robot performing direct teaching for machine tending to demonstrate its feasibility. The experiments show that the operator can perform direct teaching more efficiently and this algorithm is particularly good for repetitive teaching on a small batch production.",

keywords = "Cooperative manipulators, Force control",

author = "Kim, {Young Loul} and Ahn, {Kuk Hyun} and Jae-Bok Song",

year = "2016",

month = oct,

day = "21",

doi = "10.1109/URAI.2016.7733996",

language = "English",

pages = "861--866",

booktitle = "2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 ; Conference date: 19-08-2016 Through 22-08-2016",

}

TY - GEN

T1 - Direct teaching algorithm based on task assistance for machine tending

AU - Kim, Young Loul

AU - Ahn, Kuk Hyun

AU - Song, Jae-Bok

PY - 2016/10/21

Y1 - 2016/10/21

N2 - Much research has been done on direct teaching in which an operator directly teaches a robot its task by hand guiding. In this study, we propose a novel algorithm to add virtual stiffness to a robot based on its task without changing the mode of teaching. The proposed algorithm defines the task assistance domains with spherical, cylindrical, and hexahedral shapes depending on the task environment. Inside this domain, stiffness is added to assist the operator in teaching the robot. At the boundary of the task assistance domain, stiffness is gradually changed to avoid the instability due to an abrupt change in stiffness. The proposed method was implemented on a 6 DOF industrial robot performing direct teaching for machine tending to demonstrate its feasibility. The experiments show that the operator can perform direct teaching more efficiently and this algorithm is particularly good for repetitive teaching on a small batch production.

AB - Much research has been done on direct teaching in which an operator directly teaches a robot its task by hand guiding. In this study, we propose a novel algorithm to add virtual stiffness to a robot based on its task without changing the mode of teaching. The proposed algorithm defines the task assistance domains with spherical, cylindrical, and hexahedral shapes depending on the task environment. Inside this domain, stiffness is added to assist the operator in teaching the robot. At the boundary of the task assistance domain, stiffness is gradually changed to avoid the instability due to an abrupt change in stiffness. The proposed method was implemented on a 6 DOF industrial robot performing direct teaching for machine tending to demonstrate its feasibility. The experiments show that the operator can perform direct teaching more efficiently and this algorithm is particularly good for repetitive teaching on a small batch production.

KW - Cooperative manipulators

KW - Force control

UR - http://www.scopus.com/inward/record.url?scp=85000770438&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85000770438&partnerID=8YFLogxK

U2 - 10.1109/URAI.2016.7733996

DO - 10.1109/URAI.2016.7733996

M3 - Conference contribution

AN - SCOPUS:85000770438

SP - 861

EP - 866

BT - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Y2 - 19 August 2016 through 22 August 2016

ER -

Direct teaching algorithm based on task assistance for machine tending

Abstract

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this