力覚センサを搭載した作業台でのデモンストレーションによるロボット教示

抄録

The lack of successors is becoming a problem in factory. As a solution to this problem, there is much research how to teach human to robot by demonstrations. However, it is difficult to make accurate measurements while maintaining the quality of human movement. Therefore, in this paper proposes a high-quality motion and force information acquisition method without restricting the movement of the teacher by using a workbench with a force sensor and motion capture. To confirm the effectiveness of this method, in this paper conducted experiments to examine the usability of the tool used to acquire the movement and experiments to reproduce the acquired data by a robot, comparing it with other methods.