Quantitative Evaluation of an Intuitive Teaching Method for Industrial Robot Using a Force / Moment Direction Sensor

摘要

Abstract: A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that by, using the force/moment direction sensor method, the teaching times were reduced by 25 % for Task A and 45 % for Task B compared to the teaching pendant method.