Abstract
Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.
| Original language | English |
|---|---|
| Pages (from-to) | 538-542 |
| Number of pages | 5 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 15 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2009 May 1 |
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Keywords
- Direct teaching and playback
- Impedance control
- Peg-in-hole task
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Applied Mathematics
Cite this
Direct teaching and playback algorithm for Peg-in-hole task using impedance control. / Kim, Hyunjoong; Back, Juhoon; Song, Jae-Bok.
In: Journal of Institute of Control, Robotics and Systems, Vol. 15, No. 5, 01.05.2009, p. 538-542.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Direct teaching and playback algorithm for Peg-in-hole task using impedance control
AU - Kim, Hyunjoong
AU - Back, Juhoon
AU - Song, Jae-Bok
PY - 2009/5/1
Y1 - 2009/5/1
N2 - Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.
AB - Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.
KW - Direct teaching and playback
KW - Impedance control
KW - Peg-in-hole task
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UR - http://www.scopus.com/inward/citedby.url?scp=79955036766&partnerID=8YFLogxK
U2 - 10.5302/J.ICROS.2009.15.5.538
DO - 10.5302/J.ICROS.2009.15.5.538
M3 - Article
AN - SCOPUS:79955036766
VL - 15
SP - 538
EP - 542
JO - Journal of Institute of Control, Robotics and Systems
JF - Journal of Institute of Control, Robotics and Systems
SN - 1976-5622
IS - 5
ER -