Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
We propose a method for direct teaching of a robotic gripper position with zero contact force using proximity sensor feedback. The proximity sensor mounted on the gripper detects a marker position without contact, and the robot track it to generate a continuous trajectory. This system enables us to teach the gripper position in three dimensional positions while keeping the dynamics of the robot and human independent, thus reducing the difficulty of human teaching work and speeding up the teaching process and playback speed. We have confirmed that our method can smoothly teach continuous trajectories in task of drawing a logo. Before applying our method, it took 34.8 seconds to playback the trajectory, but after applying our method, it was reduced to 2.1 seconds.
