The design of an intuitive teaching interface for robot programming by human demonstration
Name
48198208-MIT.pdf
Description
Full printable version
Size
9.73 MB
Format
Adobe PDF
Checksum (MD5)
55b35bc49ee6d6a3e6d325063a450237
Author(s)
Pinkney, James Bassey
Advisor(s)
Harry West.
Alternative Title
Intuitive teaching interface for robot programming by human demonstration
Date Issued
1993
Publisher
Massachusetts Institute of Technology
Abstract
This thesis deals with the design and implementation of an intuitive, lightweight, compact, low-cost human interface for robot programming by human demonstration. The key feature of this robotic teaching device is its ability to allow the operator to transfer manual manipulation skills to a robot for the completion of contact tasks. The prototype incorporates 6 degree of freedom force and position sensing with tactile and grip position sensing. Total mass was a low 850 grams. Preliminary experimental results proved ease of use and very low error: 20.3 grf. average force error for a 1 Kgf. applied load, and 16.6 grf. average force error for a 3 Kgf. grip force.
Description
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1993.
Includes bibliographical references (leaves 99-100).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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