Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Techniques of Editing and Reproducing Robot Operation Data for Direct Teaching

직접 교시 작업을 위한 로봇 작업 정보 편집 및 재생산 기법

  • Kim, Han-Joon (Department of Control and Instrumentation Engineering, Kwangwoon Univ.) ;
  • Wang, Young-Jin (Department of Control and Instrumentation Engineering, Kwangwoon Univ.) ;
  • Kim, Jin-Oh (School of Robotics, Kwangwoon Univ.) ;
  • Back, Ju-Hoon (School of Robotics, Kwangwoon Univ.)
  • 김한준 (광운대학교 제어계측공학과) ;
  • 왕영진 (광운대학교 제어계측공학과) ;
  • 김진오 (광운대학교 로봇학부) ;
  • 백주훈 (광운대학교 로봇학부)
  • Received : 2012.02.06
  • Accepted : 2012.11.22
  • Published : 2013.01.01
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Abstract

Study of human-robot Interaction gets more and more attention to expand the robot application for tasks difficult by robot alone. Developed countries are preparing for a new market by introducing the concept of 'Co-Robot' model of human-robot Interaction. Our research of direct teaching is a way to instruct robot's trajectory by human's handling of its end device. This method is more intuitive than other existing methods. The benefit of this approach includes easy and fast teaching even by non-professional workers. And it can enhance utilization of robots in small and medium-sized enterprises for small quantity batch production. In this study, we developed the algorithms for creating accurate trajectory from repeated inaccurate direct teaching and GUI for the direct teaching. We also propose the basic framework for direct teaching.

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References

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