Post-processing of Direct Teaching Trajectory in Industrial Robots

Direct teaching of the industrial robot is a novel technique to easily teach manipulators. However, teaching data by human hand cannot help having large noise errors ranging from low to high frequency. To use teaching data, post-processing to correct the teaching trajectory is required. Here, a nove...

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Bibliographic Details
Published inInternational journal of fuzzy logic and intelligent systems : IJFIS Vol. 12; no. 3; pp. 256 - 262
Main Authors Choi, Tae-Yong, Park, Chan-Hun, Do, Hyun-Min, Chung, Kwang-Cho, Park, Dong-Il, Kyung, Jin-Ho
Format Journal Article
LanguageKorean
Published 2012
Subjects
Trajectory correction
Feature point extraction
Direct teaching
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Summary:Direct teaching of the industrial robot is a novel technique to easily teach manipulators. However, teaching data by human hand cannot help having large noise errors ranging from low to high frequency. To use teaching data, post-processing to correct the teaching trajectory is required. Here, a novel shape-based trajectory correction method to rebuild teaching data with the feature information of curvature and velocity is proposed. The proposed method is tested on square and circular objects.
Bibliography:KISTI1.1003/JNL.JAKO201229664764701
ISSN:1598-2645
2093-744X