The design of an intuitive teaching interface for robot programming by human demonstration

Author(s)
Pinkney, James Bassey
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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.
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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).
 
Date issued
1993
URI
http://hdl.handle.net/1721.1/42822
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.
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