Teaching data extraction for the direct teaching in industrial robot

Direct teaching in the industrial robot are the novel technique to teach manipulator with easy usage. In conventional works, teaching trajectory is identified by physical indicator like button. In this work, F/T sensor attached to the end-effector to detect the contact force is utilized. F/T sensor at the end-effector is attached to measure contact force for impedance control to make operator feel no resistance while direct teaching, not for teaching trajectory extraction. Here, exact teaching trajectory is extracted without additional physical device to manipulator.