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 language | English |
|---|---|
| Title of host publication | 1993 Int Conf Intell Rob Syst |
| Editors | Anon |
| Place of Publication | Piscataway, NJ, United States |
| Publisher | Publ by IEEE |
| Pages | 1237-1244 |
| Number of pages | 8 |
| ISBN (Print) | 0780308239 |
| Publication status | Published - 1993 |
| Externally published | Yes |
| Event | 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap Duration: 1993 Jul 26 → 1993 Jul 30 |
Other
| Other | 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) |
|---|---|
| City | Yokohama, Jap |
| Period | 93/7/26 → 93/7/30 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Development of a model-based remote maintenance robot system (III) - task planner. / Yoshimi, Takashi; Asari, Yukio; Sato, Hirokazu; Tatsuno, Kyoichi; Asano, Kuniji.
1993 Int Conf Intell Rob Syst. ed. / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. p. 1237-1244.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
Y1 - 1993
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.
UR - http://www.scopus.com/inward/record.url?scp=0027843451&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027843451&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027843451
SN - 0780308239
SP - 1237
EP - 1244
BT - 1993 Int Conf Intell Rob Syst
A2 - Anon, null
PB - Publ by IEEE
CY - Piscataway, NJ, United States
ER -