Task skill transfer of circle handle valve manipulation

This paper describes how to write a task skill program of circle handle valve manipulation. It is difficult to program a complicated motion with a knack. Thus, in a previous paper, we proposed a task skill transfer method using a bilateral teleoperation to be able to program the knack easily. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. In this paper, we show that it is able to program the complicated motion with the knack (the hole search motion) easily.