Abstract
Direct teaching method is an approach to intuitively produce target motions to robot arms. So far, we have proposed a direct teaching method for robot arms driven by pneumatic artificial muscles(PAMs). The method requires to measure pressures and tensions of PAMs to generate desired pressures for reproducing taught motions. In the method, it is important to prevent slacks and excessive tensions of PAMs to reproduce taught motions. This paper presents a direct teaching method with the teaching control for robot arms driven by PAMs. The proposed method is derived from the simplest analytical model of PAMs and requires only pressures and tensions of PAMs in robot arms. We conducted teaching experiments using a real robot arm and compared of performances between two direct teaching methods with and without the recipient control.
