User-Friendly Intuitive Teaching Tool for Easy and Efficient Robot Teaching in Human-Robot Collaboration

  • Hyunmin DoEmail author
  • Taeyong Choi
  • Dong Il Park
  • Hwi-su Kim
  • Chanhun Park
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


Production automation by human-robot collaboration has drawn significant attention due to increasing demands for automation in the manufacturing process of small electronic products, which were previously manufactured manually. Accordingly, the research for human-robot collaboration is being actively conducted and intuitive teaching is an essential technology to realize easy and efficient teaching of a collaborative robot. This paper proposes an intuitive teaching tool attached to a robot end effector that can accurately teach motions to a robot manipulator, without being affected by sensor noises. This device consists of three parts: a motion operation part for teaching six degrees of freedom motion of the robot, a motion setting part which consists of core functions necessary for teaching and a status display part for displaying the status of the teaching device and the robot. It is designed to perform teaching work by a combination of twelve switches which have one-to-one mapping relation to each degree of freedom of motion. A prototype has been implemented to verify the performance and has been applied to an experiment of six degrees of freedom motion teaching with UR5 robot.


Intuitive teaching tool Robot teaching Human-robot collaboration 



This work was supported by the Ministry of Trade, Industry & Energy and KEIT under program number 10063413.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hyunmin Do
    • 1
    Email author
  • Taeyong Choi
    • 1
  • Dong Il Park
    • 1
  • Hwi-su Kim
    • 1
  • Chanhun Park
    • 1
  1. 1.Department of Robotics and MechatronicsKorea Institute of Machinery and Materials (KIMM)DaejeonKorea

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