Abstract
In this paper, we propose a simple teaching method for industrial robots by human demonstration. The method can be divided into two parts: the teaching phase and the planning phase. In the teaching 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, each of demonstrated manipulations was reproduced successfully as a combination of pick-and-place and pushing by one or two robot manipulators.
| Original language | English |
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| Pages | 1523-1528 |
| Number of pages | 6 |
| Publication status | Published - 2002 Jan 1 |
| Externally published | Yes |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 2002 Sept 30 → 2002 Oct 4 |
Other
| Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications