{"title":"协作机器人翻转锅的任务教学方法","authors":"Dongwoo Ko, Donghyeon Lee, W. Chung","doi":"10.1109/ur55393.2022.9826268","DOIUrl":null,"url":null,"abstract":"This paper proposes a teaching method that can generate the robot trajectory for the pan-flipping task. Although various teaching interfaces are developed, they have limits to be used for teaching dynamic motion such as pan-flipping. In this study, the safe robot geometric path can be obtained by the kinesthetic teaching method, and it can be time-parameterized using dynamic time warping (DTW) and non-rigid registration from the intuitive human demonstration. The feasibility of the proposed method was verified with a 6-DOF robot manipulator.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"404 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Task Teaching Method for Pan-flipping to Collaborative Robot\",\"authors\":\"Dongwoo Ko, Donghyeon Lee, W. Chung\",\"doi\":\"10.1109/ur55393.2022.9826268\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a teaching method that can generate the robot trajectory for the pan-flipping task. Although various teaching interfaces are developed, they have limits to be used for teaching dynamic motion such as pan-flipping. In this study, the safe robot geometric path can be obtained by the kinesthetic teaching method, and it can be time-parameterized using dynamic time warping (DTW) and non-rigid registration from the intuitive human demonstration. The feasibility of the proposed method was verified with a 6-DOF robot manipulator.\",\"PeriodicalId\":398742,\"journal\":{\"name\":\"2022 19th International Conference on Ubiquitous Robots (UR)\",\"volume\":\"404 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-07-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 19th International Conference on Ubiquitous Robots (UR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ur55393.2022.9826268\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 19th International Conference on Ubiquitous Robots (UR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ur55393.2022.9826268","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Task Teaching Method for Pan-flipping to Collaborative Robot
This paper proposes a teaching method that can generate the robot trajectory for the pan-flipping task. Although various teaching interfaces are developed, they have limits to be used for teaching dynamic motion such as pan-flipping. In this study, the safe robot geometric path can be obtained by the kinesthetic teaching method, and it can be time-parameterized using dynamic time warping (DTW) and non-rigid registration from the intuitive human demonstration. The feasibility of the proposed method was verified with a 6-DOF robot manipulator.
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