NDLI: Motion teaching method for complex robot links using motor current

Content Provider	Springer Nature Link
Author	Lee, Wonseok Bang, Young bong Lee, Kyung min Shin, Bu hyun Paik, Jamie Kyujin Kim, In su
Copyright Year	2010
Abstract	Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could be set up as if it were a clothing mannequin that has light limbs and flexible yet frictional joints which can be positioned at desirable shape and hold all the positions. To do the same with a robot, an operator could pull or push the links with minor forces until the desired robot posture is attained. For this, a robot should measure the applied external force by using torque sensors at the robot joints. However, torque sensors are bulky and expensive to install in every DOF joints while keeping a compact design, which is essential to humanoid robots. In this paper, we use only motor current readings to acquire joint torques. The equations used to compensate for the effect of gravity on the joint torques and the self-calibration method to earn link parameters are presented. Additionally, kinematic restrictions can be imposed on the robot’s arms to simplify the motion teaching. Here, we teach the Kendo training robot with this method and the robot’s learnt martial art motions are demonstrated.
Starting Page	1072
Ending Page	1081
Page Count	10
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	8
Issue Number	5
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2010-10-28
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Humanoid Kendo robot motion teaching trajectory generation Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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