View-Based Teaching/Playback with Photoelasticity for Force-Control Tasks
View-Based Teaching/Playback with Photoelasticity for Force-Control Tasks
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DOI：
10.1007/978-3-319-48036-7_60
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发表时间：
2016-07
期刊：
影响因子：
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通讯作者：
Yoshinori Nakagawa;Soichi Ishii;Y. Maeda
中科院分区：
文献类型：
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作者：
Yoshinori Nakagawa;Soichi Ishii;Y. Maeda
我们研究了一种新的机器人编程方法，它使用基于视图的方法：“基于视图的教学/回放”。该方法直接利用图像对机器人进行编程，并能适应任务条件的变化。然而，我们之前基于视图的教学/播放不能执行力控制任务；例如，它无法处理将物体压在墙上的情况，而在这种情况下，图像的视角不会改变。在本文中，我们扩展了基于视图的教学/回放，使其适用于光弹性力控制任务。在实验中，基于扩展视图的教学/回放在按墙任务中取得了成功。
We study a novel robot programming method that uses the view-based approach: “view-based teaching/playback.” This method directly uses images for robot programming and can accommodate itself to changes of task conditions. However, our previous view-based teaching/playback cannot perform force-control tasks; for example, it cannot deal with pressing objects against walls, in which view of images does not change. In this paper, we extend the view-based teaching/playback so that it is applicable to force-control tasks using photoelasticity. In the experiment, the extended view-based teaching/playback succeeded in wall-pressing tasks.