Direct teaching and playback algorithm for Peg-in-hole task using impedance control

Hyunjoong Kim, Juhoon Back, Jae-Bok Song

Research output: Contribution to journalArticle

5 Citations (Scopus)

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 languageEnglish
Pages (from-to)538-542
Number of pages5
JournalJournal of Institute of Control, Robotics and Systems
Volume15
Issue number5
DOIs
Publication statusPublished - 2009 May 1

Fingerprint

Impedance Control
Teaching
Robot
Robots
Manipulator
Industrial manipulators
Contact
End effectors
Manipulators
Intuitive
Industry
Programming
Robot programming
Small and Medium-sized Enterprises
Grasping
Position Control
Robot Manipulator
Force Control
Wages
Force control

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 journalArticle

@article{aa5de26ebc864566a2d791954199b587,
title = "Direct teaching and playback algorithm for Peg-in-hole task using impedance control",
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.",
keywords = "Direct teaching and playback, Impedance control, Peg-in-hole task",
author = "Hyunjoong Kim and Juhoon Back and Jae-Bok Song",
year = "2009",
month = "5",
day = "1",
doi = "10.5302/J.ICROS.2009.15.5.538",
language = "English",
volume = "15",
pages = "538--542",
journal = "Journal of Institute of Control, Robotics and Systems",
issn = "1976-5622",
publisher = "Institute of Control, Robotics and Systems",
number = "5",

}

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

UR - http://www.scopus.com/inward/record.url?scp=79955036766&partnerID=8YFLogxK

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 -