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http://dx.doi.org/10.7735/ksmte.2016.25.6.492

Teaching Method Without Work Space Limit for Industrial Robot  

Choi, Taeyong (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
Do, Hyunmin (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
Park, Chanhun (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
Park, Dongil (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
Kim, Doohyeong (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
Kyung, Jinho (Department of Robotics and Mechatronics, Korea Institue of Machinery and Materials)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.25, no.6, 2016 , pp. 492-497 More about this Journal
Abstract
Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.
Keywords
Damped least square; Singular values; Work space limitation; Serial manipulator control;
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Times Cited By KSCI : 1  (Citation Analysis)
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6 Barrett Technology, viewed 1 Oct. 2016, WAM Arm, < http://www.barrett.com/products-arm.htm >.