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Design of Direct Teaching Behavior of Collaborative Robot Based on Force Interaction

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Abstract

Direct teaching can help users without the expertise of robots to quickly program a robot and plan trajectories in a complex environment. It is one of the typical applications of human-robot cooperation for improving production efficiency. However, the existing direct teaching system and related research have the problem that the human-robot communication is not intuitive enough, and the personnel safety in the teaching-playback process cannot be fully guaranteed. Based on the self-developed torque-controlled robot platform, we propose a force interaction method to achieve natural command communication. Then, combined with the analysis of the security threats in the operation process, a proper behavior of the direct teaching robot is designed to form a complete teaching-playback strategy. The proposed force recognition method and direct teaching behavior are verified on a 7-DOF collaborative robot.

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Authors and Affiliations

  1. Department of Mechanical Engineering, State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084, China

    Tianyu Ren, Yunfei Dong, Dan Wu & Ken Chen

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  1. Tianyu Ren
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  2. Yunfei Dong
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  3. Dan Wu
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  4. Ken Chen
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Correspondence to Dan Wu.

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Ren, T., Dong, Y., Wu, D. et al. Design of Direct Teaching Behavior of Collaborative Robot Based on Force Interaction. J Intell Robot Syst 96, 83–93 (2019). https://doi.org/10.1007/s10846-019-00986-3

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  • DOI: https://doi.org/10.1007/s10846-019-00986-3

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