Next Article in Journal
Fruit Detectability Analysis for Different Camera Positions in Sweet-Pepper
Previous Article in Journal
A Novel Approach to ECG Classification Based upon Two-Layered HMMs in Body Sensor Networks
Article Menu

Export Article

Open AccessArticle
Sensors 2014, 14(4), 6012-6031;

A Novel Teaching System for Industrial Robots

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)
Full-Text   |   PDF [871 KB, uploaded 21 June 2014]   |  


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. View Full-Text
Keywords: industrial robotic arm; teach pendant; teaching system; Fitts’ Law industrial robotic arm; teach pendant; teaching system; Fitts’ Law

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Share & Cite This Article

MDPI and ACS Style

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

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top