Direct Teaching/Playback Method for the Contact Task of a Six-DOF Manipulator Using a Parallel-Wire-Type Teaching Device with a Remote Center Compliance Device

This study proposes a direct teaching method for the task of pressing an end effector attached to a robot manipulator against a workpiece with a constant force. When performing contact tasks, such as deburring or polishing using a manipulator, a passive compliance is required for the end effector to suppress excessive contact force and impact. Therefore, we developed an end effector that combines a “parallel wire-type teaching device,” which enables direct teaching, and a compliance device. In the case of pressing a workpiece with a constant force, after teaching the robot's trajectory to trace the edge of the workpiece, the amount of pressing can be calculated from the stiffness of the end effector and the desired pressing force; the robot's trajectory can be edited to teach contact tasks. An experiment was conducted to press a straight trajectory with a constant force as the target value and evaluate the accuracy of force teaching.