The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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A Development of Robot Arm Direct Teaching System

로봇팔 직접 교시 시스템 개발

  • 현웅근 (호남대학교 전자공학과)
  • Received : 2023.12.12
  • Accepted : 2024.02.17
  • Published : 2024.02.29
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Abstract

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

본 논문에서는 로봇팔의 선단을 잡고 원하는 위치로 이동시켜서 작업을 직접 교시하는 직감적인 교시 및 제어를 시스템을 개발하였다. 개발된 시스템은 로봇팔 선단부의 위치 방향 및 자세 방향 힘을 측정하는 6축힘 센서, 선단부에서 측정된 힘에 의한 로봇팔 관절 속도제어 명령어 생성 알고리즘, 자체 제작한 6축 로봇팔 및 제어 시스템으로 구성된다. 선단부 핸들러에 부착된 힘센서를 통해 로봇팔 조작자가 핸들러를 조종하는 위치 자세의 6차원의 힘/토크를 감지하고 이를 선단부 조종속도 명령으로 변환하여 6축 로봇팔을 제어한다. 연구 방법의 검증은 자체 제작된 6축 로봇으로 실행하였으며, 조종자의 핸들러 조정을 통한 작업교시에 의한 실험을 통해 제안한 힘 센서기반 로봇 선단 제어 방법이 성공적으로 동작함을 확인하였다.

Keywords

Acknowledgement

본 과제(결과물)는 2023년도 교육부의 재원으로 한국연구재단의 지원을 받아 수행된 지자체-대학 협력기반 지역혁신 사업의 결과입니다. (과제관리번호: 2021RIS-002)

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