Design of 6-DOF Manipulator Intuitive Teaching System Using Smart Phone Orientation: User Friendly and Intuitive Teaching Operation for 6-DOF Manipulator

摘要

Conventional teaching pendent is widely utilized to define the task manipulation of industrial robot. But for efficient teaching task, we need to make the novel intuition teaching method and user friendly interface to realize end effector's position and orientation easier. In addition to enhance time efficiency of teaching task, tele-operation function and mobility are also needed. In this regard, this research proposes smart phone based intuitive teaching pendant. The way of basic idea is that the smart phone orientation information can be considered as some control device which has universal joint in base part, and we match orientation information of smart phone to end effector of manipulator. Furthermore, a user study is performed to compare the proposed smart teaching pendant with conventional approach in a given scenario. And we can show that suggested method has more time efficiency comparing with the traditional teaching works in the virtual environment applied the idea of teaching method we designed.