System structure and description for tool manipulation

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

Research output: Contribution to conferencePaper

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
Pages305-309
Number of pages5
Publication statusPublished - 1995 Jan 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Matsuo, S., Shimokura, K. I., Kubota, Y., Mitsuya, E., & Mizukawa, M. (1995). System structure and description for tool manipulation. 305-309. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .