A model-based manipulation system with skill-based execution

Author

Hasegawa, Tsutomu ; Suehiro, Takashi ; Takase, Kunikatsu

Author_Institution

Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan

Volume

8

Issue

5

fYear

1992

fDate

10/1/1992 12:00:00 AM

Firstpage

535

Lastpage

544

Abstract

A model-based robot system is described. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Skills are implemented within the hybrid position/velocity/force control scheme and incorporate sensing procedures to detect the state to be achieved. An experiment involving the disassembly of a valve using this system is presented

Keywords

industrial robots; knowledge acquisition; learning (artificial intelligence); environment model; geometric structure; hybrid position/velocity/force control; industrial robots; model-based manipulation system; skill-based execution; task execution; valve disassembly; Education; Force control; Humans; Manipulators; Master-slave; Orbital robotics; Programming profession; Robot control; Robot motion; Robot sensing systems;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.163779

Filename

163779