Abstract
Production automation by human-robot collaboration has drawn significant attention due to increasing demands for automation in the manufacturing process of small electronic products, which were previously manufactured manually. Accordingly, the research for human-robot collaboration is being actively conducted and intuitive teaching is an essential technology to realize easy and efficient teaching of a collaborative robot. This paper proposes an intuitive teaching tool attached to a robot end effector that can accurately teach motions to a robot manipulator, without being affected by sensor noises. This device consists of three parts: a motion operation part for teaching six degrees of freedom motion of the robot, a motion setting part which consists of core functions necessary for teaching and a status display part for displaying the status of the teaching device and the robot. It is designed to perform teaching work by a combination of twelve switches which have one-to-one mapping relation to each degree of freedom of motion. A prototype has been implemented to verify the performance and has been applied to an experiment of six degrees of freedom motion teaching with UR5 robot.
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This work was supported by the Ministry of Trade, Industry & Energy and KEIT under program number 10063413.
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Do, H., Choi, T., Park, D.I., Kim, Hs., Park, C. (2019). User-Friendly Intuitive Teaching Tool for Easy and Efficient Robot Teaching in Human-Robot Collaboration. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_67
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DOI: https://doi.org/10.1007/978-3-030-01370-7_67
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