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.
Shadow robot for teaching motion
Schattenroboter für Bewegungslehrzwecke
Robotics and Autonomous Systems ; 58 , 7 ; 840-846
2010
7 Seiten, 10 Bilder, 1 Tabelle, 25 Quellen
Aufsatz (Zeitschrift)
Englisch
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