Development of a model-based remote maintenance robot system (III) - task planner

Takashi Yoshimi, Yukio Asari, Hirokazu Sato, Kyoichi Tatsuno, Kuniji Asano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper introduces a task planner for a model-based remote maintenance robot system: TAROS (Toshiba Advanced Robot System) which we are developing now. TAROS's task planner has a task knowledge database describing procedures to perform desired tasks and an environment knowledge database describing geometrical characteristics and arrangement data of objects to be handled. These data are represented by frames. When the operator inputs a task command, the task planner generates robot control programs automatically by referring to the databases. In our task planner, even though the object's position or orientation data in the environment knowledge database include errors, suitable motions are selected from the task knowledge database according to the amount of errors, and executed. So, we can perform a desired task easily without making a detailed robot control program which the object's position and orientation errors are taken into consideration. We verified that the fastening and loosening operations of a nut and a flange bolt were performed autonomously by using the task planner of TAROS.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
Editors Anon
PublisherPubl by IEEE
Pages1237-1244
Number of pages8
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
Externally publishedYes
Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 Int Conf Intell Rob Syst

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
CityYokohama, Jap
Period93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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