A Novel Teaching System for Industrial Robots
Identifieur interne : 001501 ( Main/Merge ); précédent : 001500; suivant : 001502A Novel Teaching System for Industrial Robots
Auteurs : Hsien-I Lin ; Yu-Hsiang LinSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2014.
Abstract
The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.
Url:
DOI: 10.3390/s140406012
PubMed: 24681669
PubMed Central: 4029723
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 002478
- to stream Pmc, to step Curation: 002478
- to stream Pmc, to step Checkpoint: 000E64
- to stream Ncbi, to step Merge: 002E45
- to stream Ncbi, to step Curation: 002E45
- to stream Ncbi, to step Checkpoint: 002E45
Links to Exploration step
PMC:4029723Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Novel Teaching System for Industrial Robots</title><author><name sortKey="Lin, Hsien I" sort="Lin, Hsien I" uniqKey="Lin H" first="Hsien-I" last="Lin">Hsien-I Lin</name></author><author><name sortKey="Lin, Yu Hsiang" sort="Lin, Yu Hsiang" uniqKey="Lin Y" first="Yu-Hsiang" last="Lin">Yu-Hsiang Lin</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">24681669</idno><idno type="pmc">4029723</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4029723</idno><idno type="RBID">PMC:4029723</idno><idno type="doi">10.3390/s140406012</idno><date when="2014">2014</date><idno type="wicri:Area/Pmc/Corpus">002478</idno><idno type="wicri:Area/Pmc/Curation">002478</idno><idno type="wicri:Area/Pmc/Checkpoint">000E64</idno><idno type="wicri:Area/Ncbi/Merge">002E45</idno><idno type="wicri:Area/Ncbi/Curation">002E45</idno><idno type="wicri:Area/Ncbi/Checkpoint">002E45</idno><idno type="wicri:Area/Main/Merge">001501</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">A Novel Teaching System for Industrial Robots</title><author><name sortKey="Lin, Hsien I" sort="Lin, Hsien I" uniqKey="Lin H" first="Hsien-I" last="Lin">Hsien-I Lin</name></author><author><name sortKey="Lin, Yu Hsiang" sort="Lin, Yu Hsiang" uniqKey="Lin Y" first="Yu-Hsiang" last="Lin">Yu-Hsiang Lin</name></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Brog Rdh, T" uniqKey="Brog Rdh T">T. Brogårdh</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Simons, J" uniqKey="Simons J">J. Simons</name></author><author><name sortKey="Brussel, H" uniqKey="Brussel H">H. Brussel</name></author><author><name sortKey="De Schutter, J" uniqKey="De Schutter J">J. De Schutter</name></author><author><name sortKey="Verhaert, J" uniqKey="Verhaert J">J. Verhaert</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Asakawa, N" uniqKey="Asakawa N">N. Asakawa</name></author><author><name sortKey="Takeuchi, Y" uniqKey="Takeuchi Y">Y. Takeuchi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Smith, C B" uniqKey="Smith C">C.B. Smith</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Choi, S" uniqKey="Choi S">S. Choi</name></author><author><name sortKey="Newman, W S" uniqKey="Newman W">W.S. Newman</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zheng, Y F" uniqKey="Zheng Y">Y.F. Zheng</name></author><author><name sortKey="Luh, J" uniqKey="Luh J">J. Luh</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nagata, F" uniqKey="Nagata F">F. Nagata</name></author><author><name sortKey="Watanabe, K" uniqKey="Watanabe K">K. Watanabe</name></author><author><name sortKey="Kiguchi, K" uniqKey="Kiguchi K">K. Kiguchi</name></author><author><name sortKey="Tsuda, K" uniqKey="Tsuda K">K. Tsuda</name></author><author><name sortKey="Kawaguchi, S" uniqKey="Kawaguchi S">S. Kawaguchi</name></author><author><name sortKey="Noda, Y" uniqKey="Noda Y">Y. Noda</name></author><author><name sortKey="Komino, M" uniqKey="Komino M">M. Komino</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Neto, P" uniqKey="Neto P">P. Neto</name></author><author><name sortKey="Pires, J N" uniqKey="Pires J">J.N. Pires</name></author><author><name sortKey="Moreira, A P" uniqKey="Moreira A">A.P. Moreira</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Shenoy, P" uniqKey="Shenoy P">P. Shenoy</name></author><author><name sortKey="Miller, K J" uniqKey="Miller K">K.J. Miller</name></author><author><name sortKey="Crawford, B" uniqKey="Crawford B">B. Crawford</name></author><author><name sortKey="Rao, R P" uniqKey="Rao R">R.P. Rao</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Aleotti, J" uniqKey="Aleotti J">J. Aleotti</name></author><author><name sortKey="Skoglund, A" uniqKey="Skoglund A">A. Skoglund</name></author><author><name sortKey="Duckett, T" uniqKey="Duckett T">T. Duckett</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lin, H" uniqKey="Lin H">H. Lin</name></author><author><name sortKey="Chen, C" uniqKey="Chen C">C. Chen</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Neto, P" uniqKey="Neto P">P. Neto</name></author><author><name sortKey="Pires, J" uniqKey="Pires J">J. Pires</name></author><author><name sortKey="Moreira, A" uniqKey="Moreira A">A. Moreira</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kim, Y H" uniqKey="Kim Y">Y.H. Kim</name></author><author><name sortKey="Park, W M" uniqKey="Park W">W.M. Park</name></author><author><name sortKey="Kim, K" uniqKey="Kim K">K. Kim</name></author><author><name sortKey="Rha, K H" uniqKey="Rha K">K.H. Rha</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Sun, L" uniqKey="Sun L">L. Sun</name></author><author><name sortKey="Van Meer, F" uniqKey="Van Meer F">F. Van Meer</name></author><author><name sortKey="Schmid, J" uniqKey="Schmid J">J. Schmid</name></author><author><name sortKey="Bailly, Y" uniqKey="Bailly Y">Y. Bailly</name></author><author><name sortKey="Thakre, A A" uniqKey="Thakre A">A.A. Thakre</name></author><author><name sortKey="Yeung, C K" uniqKey="Yeung C">C.K. Yeung</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hua, J" uniqKey="Hua J">J. Hua</name></author><author><name sortKey="Wang, Y" uniqKey="Wang Y">Y. Wang</name></author><author><name sortKey="Ding, W" uniqKey="Ding W">W. Ding</name></author><author><name sortKey="Xi, N" uniqKey="Xi N">N. Xi</name></author><author><name sortKey="Li, H" uniqKey="Li H">H. Li</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Fitts, P M" uniqKey="Fitts P">P.M. Fitts</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhai, S" uniqKey="Zhai S">S. Zhai</name></author><author><name sortKey="Kong, J" uniqKey="Kong J">J. Kong</name></author><author><name sortKey="Ren, X" uniqKey="Ren X">X. Ren</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Soukoreff, R W" uniqKey="Soukoreff R">R.W. Soukoreff</name></author><author><name sortKey="Mackenzie, I S" uniqKey="Mackenzie I">I.S. MacKenzie</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Card, S K" uniqKey="Card S">S.K. Card</name></author><author><name sortKey="English, W K" uniqKey="English W">W.K. English</name></author><author><name sortKey="Burr, B J" uniqKey="Burr B">B.J. Burr</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kohli, L" uniqKey="Kohli L">L. Kohli</name></author><author><name sortKey="Whitton, M C" uniqKey="Whitton M">M.C. Whitton</name></author><author><name sortKey="Brooks, F" uniqKey="Brooks F">F. Brooks</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Mackenzie, I S" uniqKey="Mackenzie I">I.S. MacKenzie</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001501 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 001501 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= PMC:4029723
|texte= A Novel Teaching System for Industrial Robots
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:24681669" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |