Affiliation:
1. Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional
2. Universidad Nacional Autónoma de México
Abstract
This paper proposes a bilateral master-slave training systems which allows to directly transfer motion and force skills from the human operator to a real slave manipulator trough a master robot. For this, real and virtual surfaces are modeled by geometric constraints, which represent the surface where the task is to be performed. Thus, joint orthogonal decomposition into force and motion is considered. The holonomic constraint model and the joint orthogonal decomposition allow a stability analysis of the whole system, such that convergence properties in motion and force spaces are obtained. The effectiveness of our proposal is experimentally shown.
Publisher
Trans Tech Publications, Ltd.
Reference9 articles.
1. Norberto Pires, J. Industrial Robot Programming, Building Applications for the Factories of the Future. Springer, 1st edition (2007).
2. Sicilano, B. and Villani, L. Robot force control. Springer, 1st edition (2000).
3. Fuki, H. Et. Al. Development of Teaching Pendant Optimized for Robot Application. In proceedings of IEEE Workshop on Adv. Robotics and its Social Impacts. Tokyo, Japan, November 23-25, (2009).
4. Skoglund, A., Iliev, B. and Palm, R. Programming-by-Demonstration of reaching motions_A next-state-planner Approach. Robotics and Autonomous Systems, Vol. 58. No. 5, (2010). pp.607-621.
5. Aleoti, J., Casellini, S. and Regianni, M. Evaluation of Virtual Fixtures for a Robot Programming by Demonstration Interface. IEEE Transactions on Systems, Man, and Cybernetics—Part A: Systems and Humans, Vol. 35, No. 4, (2005). pp.536-545.
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献