Human-friendly robots have begun to spread in society. In the future such robots and intelligent machines should be autonomous in open situations. To give dexterity to a robot, teaching motion is a good candidate. However, there are some problems from the operational point of view due to gravity and friction effects. In this paper, a shadow robot is proposed for teaching motion instead of force sensors. The shadow robot is a novel disturbance compensation method that consists of a twin robot system. Two of the same type of robot are required and they are controlled with the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in the teaching motion controlled by a human and the other is unconstrained. Thus the purity of the human force is extracted by subtracting the disturbance torque in the unconstrained robot from the constrained one. As a result, the shadow robot observes the human force with gravity and friction compensation. Since it is possible to apply this concept to a multi-degree-of-freedom system, the human operationality in teaching motion are improved. The experimental results show the viability of the proposed method.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Shadow robot for teaching motion


    Weitere Titelangaben:

    Schattenroboter für Bewegungslehrzwecke


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2010


    Format / Umfang :

    7 Seiten, 10 Bilder, 1 Tabelle, 25 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Whole-Body Robot Motion Learning by Kinesthetic Teaching

    Lin, Hsien-I / Chen, Yung-Yao / Huang, Yu-Che | Springer Verlag | 2015


    Teaching skeleton robot and motion data acquisition modeling system

    SUI WEIQIANG | Europäisches Patentamt | 2020

    Freier Zugriff


    Shape from active shadow motion [2056-03]

    Wang, L. / Clark, J. J. / SPIE | British Library Conference Proceedings | 1993


    Automatic cruise transportation robot based on digital mirror shadow control

    YU ZHENGLEI / SUN ZHICHAO / SHANG XIAOYU et al. | Europäisches Patentamt | 2023

    Freier Zugriff