A model-based manipulation system with skill-based execution in unstructured environment

Author

Hasegawa, Tsutomu ; Suehiro, Takashi ; Takase, Kunikatsu

Author_Institution

Electrotech. Lab., Ibaraki, Japan

fYear

1991

fDate

19-22 June 1991

Firstpage

970

Abstract

This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Disassembly of a valve has been successfully achieved by using this system.<>

Keywords

control engineering computing; robots; environment model; geometric structure; model-based manipulation system; model-based robot system; physical properties; skill-based execution; unavoidable errors; uncertainties; unstructured environment; valve disassembly; Education; Humans; Manipulators; Orbital robotics; Power system modeling; Programming profession; Robot control; Robot motion; Shape; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240546

Filename

240546