Trajectory correction based on shape peculiarity in direct teaching manipulator

• DOI: 10.1007/s12555-012-0091-4
• Publication Date: 2013-10-08T14:50:51Z
• Authors: Taeyong Choi; Chanhun Park; Hyunmin Do; Dongil Park; Jinho Kyung; Gwangjo Chung
• Keywords: Smoothing; Manipulator (device); Line (geometry)

Direct teaching of an industrial robot is a novel technique to easily teach manipulators. However, the human-hand generated teaching data can have significant noise errors ranging from low to high frequency. To use the teaching data, a post-processing method to correct the teaching trajectory is required. Currently there is no suitable way to correct the direct teaching trajectory other than conventional simple-line smoothing methods. Here, a novel shape-based trajectory correction method to rebuild the teaching data with the curvature and velocity information is proposed. The proposed method is tested on three real objects using a physical direct-teaching manipulator.