인간-로봇 협업을 위한 패턴기반 경로 계획 알고리즘

This paper focuses on an intelligent teaching device for human-robot cooperation and the teaching method of generating path in 3D space. The reason is that it is difficult for the user who does not have enough experience to generate path of and operate industrial robots. In addition to, this paper presents an intuitive teaching method including an algorithm for industrial robots using an intelligent teaching device. Users, even untrained operators, can easily generate path and move the robot by just defining the start, middle, and the end positions, which can also help the users reduce operation time efficiently. Safety for the user is secured by means of selecting non-contact teaching method. Because intuitive teaching method is available in 3D space using only one hand-teaching device, suggested method can be specified in human-robot cooperation.