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Teaching and control of robot contour-tracking using contact point detection

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2 Author(s)
Shin-yo Muto ; Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan ; Shimokura, K.-i.

New methods for teaching and controlling contour-tracking tasks based on contact sensing are developed to improve robotic machining. Accurate contact point detection is introduced to estimating a work contour path with high reliability. These teaching methods reduce the effort for task teaching and improve adaptability to handle changes in task specifications without re-teaching. Real-time contour tracking control using this contact sensing to suppress work uncertainties in process is presented. Experimental results for practical grinding tasks using a 6 DOF manipulator validate our methods

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

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