Robot task design system for tool manipulation tasks

Author

Mizukawa, Makoto ; Kanayama, Kazunori ; Nakamura, Yukihiro

Author_Institution

NTT Corp., Tokyo, Japan

Volume

3

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1938

Abstract

A robot task design system for robot tool manipulation tasks is proposed and implemented. The system consists of an on-site object modeling system and a task attribute design system. The on-site object modeling system is an online measurement system that obtains the local object geometry. The task attribute design system is an off-line system that describes the tool operation along the task path on the object. It provides a high-level task description suitable for human understanding of the task via a graphical user interface. This system has been successfully applied to a deburring robot system equipped with a laser range sensor

Keywords

graphical user interfaces; manipulators; measurement systems; online operation; deburring robot system; graphical user interface; high-level task description; laser range sensor; local object geometry; off-line system; on-site object modeling system; online measurement system; robot task design system; task attribute design system; tool manipulation tasks; Data mining; Deburring; Education; Educational robots; Humans; Optical design; Robot programming; Robot sensing systems; Sensor systems and applications; Spraying;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724884

Filename

724884