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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.
Highlights
Industrial robotic arms are widely used in industrial manufacturing [1]
For example: (a) accurately controlling an end effector with 6-DoF is extremely difficult and time-consuming because every degree requires an exclusive sequence of button actions; (b) executing robotic arm movements according to scheduled tracks are extremely difficult because of an increased number of interpolation points are necessitated for complicated movements, thereby raising the complexity of operation; (c) improper use of the teach pendant can damage the robotic arm or hurt the operators; and (d) the teach pendant cannot be operated intuitively, which is not efficient
The new teaching system is divided into three parts, hardware, software, and computation (Figure 1), as listed below
Summary
Industrial robotic arms are widely used in industrial manufacturing [1]. Operations with robotic arms include packaging and arranging [2], paint spraying [3], welding [4], cutting [5], moving [6], and sanding [7]. The primary human-machine interface (HMI) for operating a robotic arm is a teach pendant [8,9,10]. A traditional teach pendant can: (a) control the rotation of any joint in the robotic arms; (b) control the position and pose of an end effector with six degrees of freedom (6-DoF);. Several issues remain regarding the control of robotic arm movement on an established track. For example: (a) accurately controlling an end effector with 6-DoF is extremely difficult and time-consuming because every degree requires an exclusive sequence of button actions; (b) executing robotic arm movements according to scheduled tracks are extremely difficult because of an increased number of interpolation points are necessitated for complicated movements, thereby raising the complexity of operation;
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