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Sensors 2014, 14(4), 6012-6031; doi:10.3390/s140406012

A Novel Teaching System for Industrial Robots

*  and
Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 106,Taiwan
* Author to whom correspondence should be addressed.
Received: 18 October 2013 / Revised: 19 March 2014 / Accepted: 24 March 2014 / Published: 27 March 2014
(This article belongs to the Section Physical Sensors)
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The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts’ Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.
Keywords: industrial robotic arm; teach pendant; teaching system; Fitts’ Law industrial robotic arm; teach pendant; teaching system; Fitts’ Law
This is an open access article distributed under the Creative Commons Attribution License (CC BY) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Lin, H.-I.; Lin, Y.-H. A Novel Teaching System for Industrial Robots. Sensors 2014, 14, 6012-6031.

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