System structure and description for tool manipulation

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

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ305-309
ページ数5
出版ステータスPublished - 1995 1 1
イベントProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
継続期間: 1995 8 51995 8 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

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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