抄録
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.
| 本文言語 | English |
|---|---|
| ページ | 305-309 |
| ページ数 | 5 |
| 出版ステータス | Published - 1995 1月 1 |
| イベント | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA 継続期間: 1995 8月 5 → 1995 8月 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
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用