Simplification of Task Teaching for Human-Friendly Small Robot Arm

摘要：

For directly aiding human life, we develop a small six-axis robot arm that is easy to incorporate in daily life. We adopt a task teaching method in which we move the robot arm directly by hand and thus can control it more easily. To reduce the quantity of data for the task teaching, we suggest the method of using interpolation and taking out each angle data at the time intervals that are obtained from angular acceleration. From simulation, the Hermite interpolation is appropriate for the suggested method. By using this method, it became possible to calculate the angle instruction value with high reproducibility and a small number of data.

作者: Nobutaka Tsujiuchi Takayuki Koizumi Tohru Hiroshima Hiroko Oshima Ryohei Fujikura

作者单位: Department of Mechanical Engineering,Doshisha University,Kyotanabe,Kyoto 610-0321 Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1400-1404

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）