Robot task design system for tool manipulation tasks

A robot task design system for robot tool manipulation tasks is proposed and implemented. The system consists of an on-site object modeling system and a task attribute design system. The on-site object modeling system is an online measurement system that obtains the local object geometry. The task attribute design system is an off-line system that describes the tool operation along the task path on the object. It provides a high-level task description suitable for human understanding of the task via a graphical user interface. This system has been successfully applied to a deburring robot system equipped with a laser range sensor