Experimental results of the teaching force shaping algorithm in case of the impact

For the intuitive teaching method, a direct teaching method [1-3] can be used. Direct teaching method means that the operator pushes or pulls the end-effector of the manipulator, then the manipulator is controlled to follow the operator´s teaching motion. For this purpose, the teaching force shaping algorithm was proposed by the author [4] considering the contact situation between the manipulator and the workpiece. Actually, the operator is not always good at directly teaching the manipulator, so there are some possibility of undesirable contact between the robot and the workpiece. Even in this undesirable contact and impact situation, the algorithm is very useful to radically reduce the impact force. In this paper, the experimental results will be shown.