A telerobotics system for maintenance tasks integrating planning functions based on manipulation skills

Author

Ogasawara, T. ; Hirukawa, H. ; Kitagaki, K. ; Onda, H. ; Nakamura, A. ; Tsukune, H.

Author_Institution

MITI, Electrotech. Lab., Ibaraki, Japan

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

2870

Abstract

The paper describes an integrated teleoperation system for maintenance tasks with planning functions based on manipulation skills. We embed planning functions into a telerobotics system to make the system more flexible and robust. A motion teaching system based on contact state transition, a geometric modeling system using teaching trees, and a task execution system based on manipulation skills are integrated. The design concept of the system and essential technologies are described. An experimental task is explained to demonstrate the efficiency of the telerobotics system

Keywords

learning (artificial intelligence); maintenance engineering; manipulators; planning (artificial intelligence); robot programming; solid modelling; telerobotics; contact state transition; geometric modeling; maintenance tasks; motion teaching system; planning functions; task execution system; teaching trees; telerobotics system; Education; Intelligent robots; Intelligent systems; Motion analysis; Motion planning; Power system planning; Robustness; Solid modeling; Telerobotics; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680624

Filename

680624