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Trajectory Correction based on Shape Peculiarity in Direct Teaching Manipulator

Taeyong Choi*, Chanhun Park, Hyunmin Do, Dongil Park, Jinho Kyung, and Gwangjo Chung
International Journal of Control, Automation, and Systems, vol. 11, no. 5, pp.1009-1017, 2013

Abstract : Direct teaching of an industrial robot is a novel technique to easily teach manipulators. However, the human-hand generated teaching data can have significant noise errors ranging from low to high frequency. To use the teaching data, a post-processing method to correct the teaching trajectory is required. Currently there is no suitable way to correct the direct teaching trajectory other than con-ventional simple-line smoothing methods. Here, a novel shape-based trajectory correction method to rebuild the teaching data with the curvature and velocity information is proposed. The proposed method is tested on three real objects using a physical direct-teaching manipulator.

Keyword : Direct teaching manipulator, feature point extraction, human-robot cooperation, trajectory correction.

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