A neural network based interactive programing of a deburring robot in a virtual environment

T. Kesavadas, Chin Khor

Research output: Contribution to journalArticlepeer-review

Abstract

This paper describes an interactive neural network based system for specifying robotic tasks using virtual tools. This virtual environment allows an operator to reach into a live video scene and direct robots to use corresponding real tools to carry out complex metal finishing tasks. The virtual tool concept provides a human-machine interface that is robust to unanticipated developments and tunable to the specific requirements of a particular task. This interactive specification concept is applied to robotic deburring processes. A function is formulated to map the endeffector position of this robot to corresponding set of joint angles through a neural network learning process obtained through examples. The experimental result of such a system that has been implemented on the Mitsubishi RV-M1 robot shows the efficiency of the approach and its potential for use in virtual reality based interactive robotics.

Original languageEnglish (US)
Pages (from-to)273-280
Number of pages8
JournalAmerican Society of Mechanical Engineers, Manufacturing Engineering Division, MED
Volume6
StatePublished - Dec 1 1997
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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