[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5391/IJFIS.2012.12.3.256

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)

Publication Information

International Journal of Fuzzy Logic and Intelligent Systems / v.12, no.3, 2012 , pp. 256-262 More about this Journal

Abstract

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.

Keywords

Direct teaching; Trajectory correction; Feature point extraction;

Citations & Related Records

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