Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2016.16.0102

Intuitive Programming of Dual-Arm Robot Tasks using Kinesthetic Teaching Method  

Kim, Peter Ki (Department of transdisciplinary studies, Seoul National University)
Park, Hyeonjun (Department of transdisciplinary studies, Seoul National University)
Bae, Ji-Hun (Korea Institute of Industrial Technology)
Park, Jae-Han (Korea Institute of Industrial Technology)
Lee, Dong-Hyuk (Korea Institute of Industrial Technology)
Park, Jaeheung (Department of transdisciplinary studies, Seoul National University)
Kyung, Jin-Ho (Korea Institute of Machinery & Materials)
Baeg, Moon-Hong (Korea Institute of Industrial Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.8, 2016 , pp. 656-664 More about this Journal
Abstract
While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.
Keywords
kinesthetic teaching; dual-arm robot; box packing;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 M. Hwang, "Optimized motion planning considering the lifetime for bimanual robotic assembly," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 21, no. 10, pp. 972-976, 2015.   DOI
2 P. Kim, H. Park, J. Bae, J. Park, D. Lee, J. Park, and M. Baeg, "Dual-arm robot box taping with kinesthetic teaching," Proc. of ICROS Annual Conference 2016, Seoul, Korea, Mar. 2016.
3 A. Albu-Schaffer, O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimbock, S. Wolf, and G. Hirzinger, "Soft robotics," 2009," IEEE Robotics & Automation Magazine, vol. 15, no. 3, pp. 20-30, 2008
4 H. Park, P. Kim, J. Bae, J. Park, M. Baeg, and J. Park, "Dual arm peg-in-hole assembly with a programmed compliant system," Ubiquitous Robots and Ambient Intelligence, pp. 431-433, 2014.
5 J. Bae, S. Park, J. Park, M. Baeg, D. Kim, and S. Oh, "Robotic arm control inspired by human muscle tension effect under the gravity," International Conference of Robotics and Automation (IROS), pp. 1404-1411, 2011.
6 S. Wang and S. Jiang, "Adaptive friction compensation of robot manipulator," Electronics and Signal Processing: Selected Papers from the 2011 International Conference on Electric and Electronics, pp.127-134, 2011.
7 YouTube, Kinetiq teaching vs Teach Pendant Programming-ROBOTIQ, May 2016, https://www.youtube.com/watch?v=jzR5NZrZSu0.
8 D. Kim, Y. Choi, R. Yan, L. Luo, J. Lee, and C. Han, "Efficient path planning of a high DOF multibody robotic system using adaptive RRT," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 21, no. 3, pp. 257-264, 2015.   DOI
9 H. Fleischer, R. Drews, J. Janson, B. Patlolla, X. Chu, M. Klos, and K. Thurow, "Application of a dual-arm robot in complex sample preparation and measurement process," Journal of Laboratory Automation, Ready for Publication, 2016.
10 R. Bloss, "Robotics innovations at the 2009 assembly technology," Industrial Robot: An International Journal, vol. 37, no. 5, pp. 427-430, 2010.   DOI
11 I. Bonev, Who is Gomtec, the Collaborative Robotics Company Acquired by ABB?, http://spectrum.ieee.org/automaton/robotics/industrial-robots/who-is-gomtec-the-collaborative-roboticscompany-acquired-by-abb
12 E. Guizzo, Rethink Robotics Open Up Baxter Robot for Researchers, http://spectrum.ieee.org/automaton/robotics/humanoids/rethink-roboticsbaxter-research-robot.
13 P. Tsarouchi, S. Makris, G. Michalos, M. Stefos, K. Fourtakas, K. Kaltsoukalas, D. Kontovrakis, and C. Chryssolouris, "Robotized assembly process using dual arm robot," CIRP Conference on Assembly Technologies and Systems, vol. 23, pp. 47-52, 2014.
14 D. Kruse, J. Wen, and R. Radke, "A sensor-based dual-arm telerobotic system," IEEE Transactions on Automation Science and Engineering, vol. 12, no. 1, pp. 4-18, 2015.   DOI
15 F. Knutar, "Automatic generation of assembly schedules for a dual-arm robot using constraint programming," Master thesis, Uppsala University, 2015.