期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 96, 期 1, 页码 83-93出版社
SPRINGER
DOI: 10.1007/s10846-019-00986-3
关键词
Direct teaching; Robot programming; Human-robot cooperation; Collaborative robot
Direct teaching can help users without the expertise of robots to quickly program a robot and plan trajectories in a complex environment. It is one of the typical applications of human-robot cooperation for improving production efficiency. However, the existing direct teaching system and related research have the problem that the human-robot communication is not intuitive enough, and the personnel safety in the teaching-playback process cannot be fully guaranteed. Based on the self-developed torque-controlled robot platform, we propose a force interaction method to achieve natural command communication. Then, combined with the analysis of the security threats in the operation process, a proper behavior of the direct teaching robot is designed to form a complete teaching-playback strategy. The proposed force recognition method and direct teaching behavior are verified on a 7-DOF collaborative robot.
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