Haptic Based Robot Teaching Method for Wooden Furniture Polishing

This paper presents a haptic based robot teaching tool for wooden furniture polishing. A haptic device is a manipulator that interacts with a wood master. The haptic senses the master's skill movements and makes the master feel real to remotely polish wooden furniture. The proposed polishing system involves a haptic device, an interactive teaching software, and a 6-DOF industrial robotic arm. The main significant issue in a polishing task discussed in the paper is how to design a teaching system to generate a skillful trajectory for various wooden workpiece shapes. Thus, we proposed two methods for the teaching process: (1) point-to-point and (2) continuous modes. The workspace mapping is implemented to solve the coordinate transformation between the haptic and the FANUC M20-iA/35M industrial robotic arm. The experimental results show that the proposed method is used by the wood master to successfully perform the wood polishing task.