Title :
A telerobotics system for maintenance tasks integrating planning functions based on manipulation skills
Author :
Ogasawara, T. ; Hirukawa, H. ; Kitagaki, K. ; Onda, H. ; Nakamura, A. ; Tsukune, H.
Author_Institution :
MITI, Electrotech. Lab., Ibaraki, Japan
Abstract :
The paper describes an integrated teleoperation system for maintenance tasks with planning functions based on manipulation skills. We embed planning functions into a telerobotics system to make the system more flexible and robust. A motion teaching system based on contact state transition, a geometric modeling system using teaching trees, and a task execution system based on manipulation skills are integrated. The design concept of the system and essential technologies are described. An experimental task is explained to demonstrate the efficiency of the telerobotics system
Keywords :
learning (artificial intelligence); maintenance engineering; manipulators; planning (artificial intelligence); robot programming; solid modelling; telerobotics; contact state transition; geometric modeling; maintenance tasks; motion teaching system; planning functions; task execution system; teaching trees; telerobotics system; Education; Intelligent robots; Intelligent systems; Motion analysis; Motion planning; Power system planning; Robustness; Solid modeling; Telerobotics; User interfaces;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680624
