Development of direct teaching robot system

摘要

The operator has to teach the reference trajectory for the manipulator to be operated automatically. But it is not easy to teach manipulator. Direct teaching is one of alternatives for the easy and intuitive teaching method. In this reason, a direct teaching robot system has been developed. The operator can easily and intuitively teach the developed manipulator. It has safe joint mechanisms which are composed of torque sensors and mechanical spring and cams. This robot shares the workspace with the human operator and it is safe. In this paper, the research results will be introduced.