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

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

1993

Author dc:creator

• Pinkney, James Bassey

Advisor dc:contributor.advisor

• Harry West.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/42822

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/42822