人間の実演に基づくロボットマニピュレーションの教示(OS.1 ロボティクス・メカトロニクス)

概要

論文の詳細を見る
In this paper, we propose a simple teaching method for industrial robots based on human demonstration. The method can be divided into two parts: the learning phase and the planning phase. In the learning phase, a human operator demonstrates a manipulation of an object, and two cameras recognize the path of the object by observing markers attached on the object. In the planning phase, a motion planner generates a sequence of robot operations to play back the demonstrated path by pick-and-place and pushing. The proposed method incorporates automated camera calibration required for human demonstration, which enables labor-saving teaching and compensates the absolute positional error of industrial robots. In the experiments, a demonstrated manipulation was reproduced successfully as a combination of pick-and-place and pushing by a manipulator.
一般社団法人日本機械学会の論文
2004-03-03