A robot task design and management system for industrial applications

Author

Kanayama, Kazunori ; Mizukawa, Makoto ; Iwaki, Satoshi ; Matsuo, Satoru ; Okada, Takashi ; Nakamura, Yukihiro

Author_Institution

NTT Human Interface Labs., Tokyo, Japan

fYear

1997

fDate

7-9 Jul 1997

Firstpage

687

Lastpage

692

Abstract

A new robot task design and management system has been developed for tool manipulation tasks done by a sensor-based robot. This design and management system can be used for all processes from teaching to task execution. A task description can be generated easily and intuitively by using graphical user interface, without precise geometrical workpiece models. Task conditions are inputted interactively by arranging iconized structured task components in accordance with the task procedure. A robot system to deburr the outside of an aluminum-cast workpiece was developed as one example of an application of this system. The results of a system evaluation experiment confirmed that the system enables the systematic task description and control of a task to be performed by a sensor-based robot system

Keywords

graphical user interfaces; industrial manipulators; machining; path planning; position control; robot programming; robot vision; aluminum-cast workpiece; deburring; graphical user interface; path generation; robot task design; robot teaching; sensor-based robot; task description; task management; tool manipulation; vision location; Control systems; Deburring; Education; Educational robots; Graphical user interfaces; Laboratories; Robot sensing systems; Sensor systems; Service robots; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620256

Filename

620256