Cooperative Robot System Research Articles

A New Approach to Robot Teaching Method with Multimedia Tools

In near future, we will have to live with many machines such as home robots, hospital robots and so on. User friendly communication between a man and those machines is very important for man - robot cooperative system utilizing their features and abilities. We propose an intuitive approach to robot teaching method with multi-media tools. As experimental results, we confirm that some manipulator’s operations can be carried out by this robot teaching method effectively.

Motion Planning for Cooperative Robotic Systems Performing Contact Operations

Two algorithms are developed in this paper for the optimal motion coordination of a pair of industrial robots engaged in contact operations such as part machining or deburring. In the first algorithm the two robots jointly grasp a tool, and move it in such a way that it performs a prescribed contact operation along the surface of a workpiece. In the second algorithm, one robot grasps the tool while a second robot grasps and maneuvers the workpiece; both robots move simultaneously relative to each other so that the tool maintains contact with the workpiece while tracking a prescribed trajectory along its surface at a constant speed.

Sensory Feedback in the External Loop

The paper deals with structures of multi-sensory feedback in advanced robot control systems. The sensor programming technique, based on an automatic generation of the “constraint frames” and a projection of teacher-incuced rudimentary path commands into these constraint frames is outlined. Robots with arbitrarily programmable stiffness are one outcome of this technique. Concepts for learning, recall and matching of nominal multisensory patterns are outlined. Supervised learning is discussed by hand of a grinding problem. One of the experiments shown is a two-arm cooperative robot system.