Title :
A model-based manipulation system with skill-based execution
Author :
Hasegawa, Tsutomu ; Suehiro, Takashi ; Takase, Kunikatsu
Author_Institution :
Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
fDate :
10/1/1992 12:00:00 AM
Abstract :
A model-based robot system is described. 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. Skills are implemented within the hybrid position/velocity/force control scheme and incorporate sensing procedures to detect the state to be achieved. An experiment involving the disassembly of a valve using this system is presented
Keywords :
industrial robots; knowledge acquisition; learning (artificial intelligence); environment model; geometric structure; hybrid position/velocity/force control; industrial robots; model-based manipulation system; skill-based execution; task execution; valve disassembly; Education; Force control; Humans; Manipulators; Master-slave; Orbital robotics; Programming profession; Robot control; Robot motion; Robot sensing systems;
Journal_Title :
Robotics and Automation, IEEE Transactions on
