The design of an intuitive teaching interface for robot programming by human demonstration
Author(s)
Pinkney, James Bassey![Thumbnail](/bitstream/handle/1721.1/42822/48198208-MIT.pdf.jpg?sequence=5&isAllowed=y)
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Alternative title
Intuitive teaching interface for robot programming by human demonstration
Other Contributors
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Harry West.
Terms of use
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Show full item recordAbstract
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).
Date issued
1993Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringPublisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.