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펙인홀 작업을 위한 임피던스 제어 기반의 직접교시 및 재현 알고리즘Direct Teaching and Playback Algorithm for Peg-in-Hole Task using Impedance Control

Other Titles
Direct Teaching and Playback Algorithm for Peg-in-Hole Task using Impedance Control
Authors
김현중백주훈송재복
Issue Date
2009
Publisher
제어·로봇·시스템학회
Keywords
direct teaching and playback; impedance control; peg-in-hole task
Citation
제어.로봇.시스템학회 논문지, v.15, no.5, pp.538 - 542
Indexed
SCOPUS
KCI
Journal Title
제어.로봇.시스템학회 논문지
Volume
15
Number
5
Start Page
538
End Page
542
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/121434
ISSN
1976-5622
Abstract
Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.
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