System structure and description for tool manipulation

Satoru Matsuo, Ken ichiro Shimokura, Yukihiro Kubota, Eiji Mitsuya, Makoto Mizukawa

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

1 Citation (Scopus)

Abstract

In this paper, we introduce the concept of a tool manipulation strategy (TMS) for a robot controller to guarantee both easy task description and reliable task execution. We believe that a method for tool manipulation is essential for manufacturing tasks. TMS provides easy implementation and description of a skillful 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. We 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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages305-309
Number of pages5
Volume1
Publication statusPublished - 1995
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/8/595/8/9

Fingerprint

Deburring
Robotics
Robots
Controllers
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Matsuo, S., Shimokura, K. I., Kubota, Y., Mitsuya, E., & Mizukawa, M. (1995). System structure and description for tool manipulation. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 305-309). Piscataway, NJ, United States: IEEE.

System structure and description for tool manipulation. / Matsuo, Satoru; Shimokura, Ken ichiro; Kubota, Yukihiro; Mitsuya, Eiji; Mizukawa, Makoto.

IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1995. p. 305-309.

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

Matsuo, S, Shimokura, KI, Kubota, Y, Mitsuya, E & Mizukawa, M 1995, System structure and description for tool manipulation. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, Piscataway, NJ, United States, pp. 305-309, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
Matsuo S, Shimokura KI, Kubota Y, Mitsuya E, Mizukawa M. System structure and description for tool manipulation. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. Piscataway, NJ, United States: IEEE. 1995. p. 305-309
Matsuo, Satoru ; Shimokura, Ken ichiro ; Kubota, Yukihiro ; Mitsuya, Eiji ; Mizukawa, Makoto. / System structure and description for tool manipulation. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1995. pp. 305-309
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