Simplification of task teaching for human-friendly small robot arm


For directly aiding human life, we develop a small six-axis robot arm that is easy to incorporate in daily life. We adopt a task teaching method in which we move the robot arm directly by hand and thus can control it more easily. To reduce the quantity of data for the task teaching, we suggest the method of using interpolation and taking out each angle data at the time intervals that are obtained from angular acceleration. From simulation, the Hermite interpolation is appropriate for the suggested method. By using this method, it became possible to calculate the angle instruction value with high reproducibility and a small number of data.

DOI: 10.1109/ROBIO.2009.5420848

11 Figures and Tables

Showing 1-10 of 10 references

Basic Technology development for practical application of human support robots

  • M Fujie
  • 2007

The Ministry of Economy, Trade and Industry, A next generation robot safety security guideline

  • 2007
1 Excerpt

Control of humanoid robot arm with air cylinders as endoskeletons

  • Koyabu Yota, Kawabuchi Ichiro, Hoshino Kiyoshi
  • 2005

Linkage between physiotherapy and engineering for human life supporting

  • Terashima Kazuhiko
  • 2005

TAKAHASHI Daisuke, Numerical computation. Iwanami Shoten

  • 1996
1 Excerpt

Reduction of trajectory tracking error for industrial robot arms by learning control with b-spline

  • Ozaki Hirano Ken, Iwamura Hioaki, Lin Makoto, Simogawa Changjun, Tetsuji
  • 1989

Kansai Keiei System Kyoukai, Industrial Robots, Ohmu Sya

  • 1983