Manipulator path generation based on contact information in 3D space considering the posture of the manipulator’s hand

Abstract

There is a demand for robots that can work in place of humans with the problem of labor shortages in Japan’s industrial sites. When robots are introduced to a production site, it is necessary to teach them how to operate. However, the conventional teaching method places an extremely heavy burden on the instructor. To solve this problem, we propose a method in which the instructor only needs to set up the motion path transit points and parameters, and the path is automatically corrected based on the force information obtained at the time of contact. The motion path is a curve that takes posture in 3D space into account. In this study, we conducted simulations of the proposed method and investigated its applicability to manipulators.