Industrial robots are playing increasingly important roles in production lines. The traditional pendant programming method, however, is unintuitive and time-consuming. Its complicated operation also sets a high requirement on users. To simplify the robot programming process, many new methods have been proposed, such as lead through teaching, teleoperation, and human direct demonstration. Each of these methods, however, suffers from its own drawbacks. To overcome the drawbacks, a novel robot programming method, remote lead through teaching (RLTT), is introduced in this paper. In RLTT, the operator uses a device to train the robot remotely, allowing the demonstrators to use the mature lead through teaching techniques in a safe environment. In order to implement RLTT, the human demonstration device (HDD) is also designed to transfer the demonstration information from the human to the robot.
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ASME 2015 Dynamic Systems and Control Conference
October 28–30, 2015
Columbus, Ohio, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5725-0
PROCEEDINGS PAPER
Remote Lead Through Teaching by Human Demonstration Device
Hsien-Chung Lin,
Hsien-Chung Lin
University of California, Berkeley, CA
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Masayoshi Tomizuka,
Masayoshi Tomizuka
University of California, Berkeley, CA
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Wenjie Chen
Wenjie Chen
FANUC Corporation, Yamanashi, Japan
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Hsien-Chung Lin
University of California, Berkeley, CA
Te Tang
University of California, Berkeley, CA
Masayoshi Tomizuka
University of California, Berkeley, CA
Wenjie Chen
FANUC Corporation, Yamanashi, Japan
Paper No:
DSCC2015-9808, V002T30A003; 5 pages
Published Online:
January 12, 2016
Citation
Lin, H, Tang, T, Tomizuka, M, & Chen, W. "Remote Lead Through Teaching by Human Demonstration Device." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications. Columbus, Ohio, USA. October 28–30, 2015. V002T30A003. ASME. https://doi.org/10.1115/DSCC2015-9808
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