A robot teaching method using Hyper Card system

Abstract

Human and robot communication is becoming more important for the next generation robot systems. This paper describes a robot teaching system with user friendly interfaces in order to improve the conventional teaching methods. The hyper card system in the Macintosh computer is used for the robot teaching system because of its easy handling and excellent human interfaces. The program in the Hyper Card is written in HyperTalk and XCMD for sending commands to a robot system; each joint of the robot can be controlled by clicking the mouse buttons. As an example of this system, the robot teaching operations of grasping a bin and pouring liquid into a cup are carried out using only one third of the teaching time as compared with the conventional teaching method. Consequently, this robot teaching method using Hyper Card system provides a foundation for realizing a user friendly human and robot communication. >