Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Intuitive Programming of Dual-Arm Robot Tasks using Kinesthetic Teaching Method

직접교시에 의한 직관적인 양팔로봇 작업 생성

  • Kim, Peter Ki (Department of transdisciplinary studies, Seoul National University) ;
  • Park, Hyeonjun (Department of transdisciplinary studies, Seoul National University) ;
  • Bae, Ji-Hun (Korea Institute of Industrial Technology) ;
  • Park, Jae-Han (Korea Institute of Industrial Technology) ;
  • Lee, Dong-Hyuk (Korea Institute of Industrial Technology) ;
  • Park, Jaeheung (Department of transdisciplinary studies, Seoul National University) ;
  • Kyung, Jin-Ho (Korea Institute of Machinery & Materials) ;
  • Baeg, Moon-Hong (Korea Institute of Industrial Technology)
  • Received : 2016.04.23
  • Accepted : 2016.06.16
  • Published : 2016.08.01
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Abstract

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

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References

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