Teaching of robot task by manual control-trial and correction of the velocity with a variable sampling time

A new teaching method has been proposed for robot manipulators, which is developed based on manual control in real time by using human operator´s skills. This method allows the operator to correct the velocity data of the robot motion through the playback of teaching data. So, even on the condition of high speed task, the method is also effective and suitable. Using an experimental master-slave manipulator system, the authors examine the application of the method to the teaching of a high-speed drawing task, and analyze the teaching process of the human operator. The results show that the high-speed task can be performed by the robot manipulator successfully