Teaching the robot by guidance using an exoskeleton device in assembly lines

Abstract

Robots used in industry rely on complex and time-consuming programming, such as a teaching panel and offline programming. Different intuitive programming methods have been proposed to overcome this drawback. A method using a force/torque sensor is practical and has been used in several organizations. However, problems, such as precision, have to be overcome in this method. This paper presents a method using an exoskeleton device that can overcome the problems based on robot teaching. Its usefulness is demonstrated compared to a method using a force/torque sensor.

Interactive physical robot guidance through advanced 3D dynamic simulation-based robot control — A new eRobotics approach

“…Except for the fourth joint, the stiffness and damping joint values are set very high. The task performed by the operator was to first move the fourth joint from its initial position q 4 As can be seen in Figure 6(a), constant admittance parameters give rise to a faster backwards joint motion when compared with the adapted parameters. They behavior is depicted in Figure 6(b) and 6(c).…”

“…On the other side, contact forces are an explicit means of communication between the operator and the robot for the purpose of physical guidance (see Figure 1). This kind of interaction is suitable to teach a robot with human skills in the loop [4], and has been shown to perform in grasping tasks better than its automated counterpart [5].…”