Abstract
In this paper, we propose a concept of an information-sharing-type teaching for robot task programming. In this teaching, wide, nonverbal and bi-directionaI communication channels are provided for an operator and robot to share information about the task field. This makes it easy for an operator to recognize robot state and to express explicitly his implicit intentions using human common ability of perception and knowledge of taskS. Based on the concept, the multimedia communication pendant (MC pendant) is designed and implemented for a tool manipulation task. Experimental results show that the MC pendant improves operational accuracy and greatly reduces the time needed for teaching, compared with a conventional pendant.
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