Abstract
In this paper, we introduce the concept of a tool manipulation strategy (TMS) for a robot controller to guarantee both easy task description and reliable task execution. We believe that a method for tool manipulation is essential for manufacturing tasks. TMS provides easy implementation and description of a skillful worker's knowledge about tool manipulation. It is a two-level concept: the first level is the fundamental motion strategy for executing a task generated offline and the second level is the strategy for modifying the first-level TMS according to the task conditions in real time. We implemented a tool manipulation module for robotic deburring based on the TMS concept into an experimental task execution system (called NOAC) and performed a deburring experiment to determine the effectiveness of TMS.
| Original language | English |
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| Pages | 305-309 |
| Number of pages | 5 |
| Publication status | Published - 1995 Jan 1 |
| Event | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA Duration: 1995 Aug 5 → 1995 Aug 9 |
Other
| Other | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
|---|---|
| City | Pittsburgh, PA, USA |
| Period | 95/8/5 → 95/8/9 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications