A telerobotics system for maintenance tasks integrating planning functions based on manipulation skills
A telerobotics system for maintenance tasks integrating planning functions based on manipulation skills
复制标题
用于维护任务的远程机器人系统，集成了基于操纵技能的规划功能
DOI：
10.1109/robot.1998.680624
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
H. Tsukune
中科院分区：
文献类型：
--
作者：
T. Ogasawara;H. Hirukawa;K. Kitagaki;H. Onda;A. Nakamura;H. Tsukune
本文描述了一种基于操作技能的具有计划功能的维修任务综合遥操作系统。我们将规划功能嵌入到远程机器人系统中，使系统更加灵活和健壮。集成了基于接触状态转换的动作示教系统、基于示教树的几何造型系统和基于操作技能的任务执行系统。阐述了系统的设计思想和关键技术。给出了一个实验任务，以演示远程机器人系统的有效性。
The paper describes an integrated teleoperation system for maintenance tasks with planning functions based on manipulation skills. We embed planning functions into a telerobotics system to make the system more flexible and robust. A motion teaching system based on contact state transition, a geometric modeling system using teaching trees, and a task execution system based on manipulation skills are integrated. The design concept of the system and essential technologies are described. An experimental task is explained to demonstrate the efficiency of the telerobotics system.