単純な動作教示と接触情報にもとづくマニピュレータの経路生成

抄録

There is a demand for robots that can work in place of humans with the problem of labor shortages in Japan’s industrial sites. However, motion teaching to the robot is very time consuming with conventional methods and a heavy burden on the instructor. Therefore, we aim to make the motion path generation automatic in order to reduce the burden on the instructor. The path generation generates a path that does not contact any obstacles. In our proposed method, the instructor only needs to set the transit point and parameters, and the path is automatically corrected based on the force information obtained at the time of contact. The parameter adjustment process is difficult, so it will be necessary to consider making it automatic in the future.