Image based operation: a human-robot interaction architecture for intelligent manufacturing

A method for interactive robot operation, based on human mental images, is presented. By introducing a multidimensional information structure into a coherent intelligence process architecture, consistency between the system model and the real world is successfully maintained. A mental image of the task is evoked by combination of a visual work space image and action knowledge. The visual image is modeled by transition of a frame system, called the work space model, using a dynamic model matching process. Action knowledge is modeled by a transition network, called the action network, and a schematic description, called the motion schema. The proposed method was verified through a prototype and experiments