Motion teaching method for complex robot links using motor current |
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Authors: | Wonseok Lee Young-bong Bang Kyung-min Lee Bu-hyun Shin Jamie Kyujin Paik In-su Kim |
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Affiliation: | 1.Hyundai Motor Company,Gyeonggi-do,Korea;2.Advanced Institutes of Convergence Technology,Seoul National University,Suwon,Korea;3.Department of Mechanical Engineering,Sogang University,Seoul,Korea;4.Microrobotics Laboratory,Harvard University,Cambridge,USA;5.Hyundai Motor Company,Geonggi-do,Korea |
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Abstract: | Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient
or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could
be set up as if it were a clothing mannequin that has light limbs and flexible yet frictional joints which can be positioned
at desirable shape and hold all the positions. To do the same with a robot, an operator could pull or push the links with
minor forces until the desired robot posture is attained. For this, a robot should measure the applied external force by using
torque sensors at the robot joints. However, torque sensors are bulky and expensive to install in every DOF joints while keeping
a compact design, which is essential to humanoid robots. In this paper, we use only motor current readings to acquire joint
torques. The equations used to compensate for the effect of gravity on the joint torques and the self-calibration method to
earn link parameters are presented. Additionally, kinematic restrictions can be imposed on the robot’s arms to simplify the
motion teaching. Here, we teach the Kendo training robot with this method and the robot’s learnt martial art motions are demonstrated. |
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