International Journal of Fuzzy Logic and Intelligent Systems

  • 제12권3호
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  • Pages.256-262
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  • 2012
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  • 1598-2645(pISSN)
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  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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Post-processing of Direct Teaching Trajectory in Industrial Robots

  • Choi, Tae-Yong (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Park, Chan-Hun (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Do, Hyun-Min (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Chung, Kwang-Cho (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Park, Dong-Il (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Kyung, Jin-Ho (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
  • 투고 : 2011.11.07
  • 심사 : 2012.08.12
  • 발행 : 2012.09.25
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초록

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.

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참고문헌

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