TY - GEN
T1 - Development of a model-based remote maintenance robot system (III) - task planner
AU - Yoshimi, Takashi
AU - Asari, Yukio
AU - Sato, Hirokazu
AU - Tatsuno, Kyoichi
AU - Asano, Kuniji
PY - 1993/12/1
Y1 - 1993/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0027843451
SN - 0780308239
T3 - 1993 Int Conf Intell Rob Syst
SP - 1237
EP - 1244
BT - 1993 Int Conf Intell Rob Syst
A2 - Anon, null
PB - Publ by IEEE
T2 - 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
Y2 - 26 July 1993 through 30 July 1993
ER -