Assembly motion teaching system using position/force simulator-generating control program
Assembly motion teaching system using position/force simulator-generating control program
复制标题
使用位置/力模拟器生成控制程序的装配运动示教系统
DOI：
10.1109/iros.1997.655122
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
K. Takase
中科院分区：
文献类型：
--
作者：
H. Onda;H. Hirukawa;F. Tomita;T. Suehiro;K. Takase
我们在假设装配任务是通过改变物体之间的接触状态来达到目标接触状态的一系列操作的基础上，开发了一个教学系统。该系统的特点是：1)从操作者在虚拟世界中的演示中提取细微运动的示教数据；2)操作者可以在显示器上编辑中间表情；3)任何机器人系统都可以使用中间表情，并且有能力实现相应的接触状态。本文描述了系统的配置、使用中间表达式生成程序以及实现每种接触状态的技能库。
We have developed a teaching system based on the assumption that the assembly task is a series of operations for achieving a target contact state among objects through changing their contact states. The features of our system are as follows: 1) teaching data for fine motion is extracted from a demonstration by an operator in a virtual world, 2) the operator can edit intermediate expressions on a display, 3) intermediate expressions can be used by any robot system with a skill library which has the ability to achieve the corresponding contact states. This paper describes the configuration of the system, program generation using intermediate expressions and a skill library to achieve each contact state.