Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 83-93 |
| Number of pages | 11 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 96 |
| Issue number | 1 |
| DOIs | |
| State | Published - 1 Oct 2019 |
| Externally published | Yes |
Keywords
- Collaborative robot
- Direct teaching
- Human-robot cooperation
- Robot programming