NDLI: Signal processing of direct teaching data for human-robot cooperation

Content Provider	IEEE Xplore Digital Library
Author	Dong Il Park Chanhun Park Jin-Ho Kyung
Copyright Year	2010
Description	Author affiliation: Department of robotics and intelligent machinery, Nano Fusion and Intelligent Manufacturing Systems Research Division, Korea Institute of Machinery & Materials, 104 Sinseongno, Yuseong-gu, Daejeon, 305-343, Korea (Dong Il Park; Chanhun Park; Jin-Ho Kyung)
Abstract	Generally, industrial robot has been used in the automate producing process and the repetitive process on behalf of human. Recently, the interest in the human-robot cooperative industrial robot which can work together with human through physical interaction in the same space has been increased. Human-robot cooperation technology can allow to combine work intelligence of human with high performance of the robot. Also, the direct teaching technology enables an operator who is not used to robot programming to control the robot easily by teaching the task trajectory directly. To improve the robot performance in the direct teaching technology, it is important to separate the precise teaching signal from the external FT sensor signal because the operator inputs the command by grabbing the end-effector of the robot with FT sensor. We has analyzed FT sensor data to apply to teaching control algorithm and compared various filtering methods to obtain smooth control capability.
Starting Page	1956
Ending Page	1960
File Size	630611
Page Count	5
File Format	PDF
ISBN	9781424463909
e-ISBN	9781424463923
DOI	10.1109/ISIE.2010.5637517
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-04
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Education Robot sensing systems Service robots Humans Torque Filtering
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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