System structure and description for tool manipulation

Introduces the concept of a tool manipulation strategy (TMS) for a robot controller to guarantee both easy task description and reliable task execution. The authors believe that a method for tool manipulation is essential for manufacturing tasks. TMS provides easy implementation and description of a skilful 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. The authors 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