On the Control of an Industrial Robot with Tactile Sensors

摘要

If the conventional industrial robot is given a tactile sense and an ability for dexterous motions, the following remarkable improvement will result.a) The burden of the operator is decreased to a great extent because he has to instruct the robot less often in teaching as well as in giving orders for the next move.b) Various problems, such as measurement error, positional error, displacement of the object are solved by properly processing the signals from the sensors attached to the industrial robot.c) The mechanically difficult work can be circumvented being handled by software techniques.In this paper, two topics to achieve the above mentioned goals are discussed:(1) To give the industrial robot some kinds of sensors, an ability for judgement and an ability for decision making, so that it can cope with the change of situation and complete its work.(2) To make the system capable of changing easily the details of the work to be done by the industrial robot.