Programming of robots based on online computation of their swept volumes

Soichi Ishii, Yusuke Maeda

    Abstract

    Industrial robots are used widely in factories and a method in which everyone can easily teach their 'good' motions is demanded. For this purpose, our group proposed a robot programming method consisting of manual volume sweeping by an operator and automatic motion planning in order to generate motions with short cycle times. A swept volume is the space that robot bodies have passed without collisions, thus we can recognize that the swept volume is free space. In this paper, to reduce a burden of the robot programming we improve our method by calculation of swept volumes, display of them and motion planning totally online during the manual sweeping. Teaching experiments were performed to evaluate the performance of the proposed method. Paths generated by all operators had shorter cycle time than teaching/playback by direct teaching, which shows the effectiveness of the proposed method.

    Original languageEnglish
    Title of host publicationIEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages385-390
    Number of pages6
    ISBN (Print)9781479967636
    DOIs
    StatePublished - 2014 Oct 15
    Event23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014 - Edinburgh, United Kingdom

    Other

    Other23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014
    CountryUnited Kingdom
    CityEdinburgh
    Period14/8/2514/8/29

    Fingerprint

    Teaching
    Robot programming
    Motion planning
    Robots
    Industrial robots
    Free volume
    Industrial plants
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Human-Computer Interaction

    Cite this

    Ishii, S., & Maeda, Y. (2014). Programming of robots based on online computation of their swept volumes. In IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. (pp. 385-390). [6926283] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/ROMAN.2014.6926283

    Programming of robots based on online computation of their swept volumes. / Ishii, Soichi; Maeda, Yusuke.

    IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. Institute of Electrical and Electronics Engineers Inc., 2014. p. 385-390 6926283.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ishii, S & Maeda, Y 2014, Programming of robots based on online computation of their swept volumes. in IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions., 6926283, Institute of Electrical and Electronics Engineers Inc., pp. 385-390, 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014, Edinburgh, United Kingdom, 25-29 August. DOI: 10.1109/ROMAN.2014.6926283
    Ishii S, Maeda Y. Programming of robots based on online computation of their swept volumes. In IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. Institute of Electrical and Electronics Engineers Inc.2014. p. 385-390. 6926283. Available from, DOI: 10.1109/ROMAN.2014.6926283

    Ishii, Soichi; Maeda, Yusuke / Programming of robots based on online computation of their swept volumes.

    IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions. Institute of Electrical and Electronics Engineers Inc., 2014. p. 385-390 6926283.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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