Object Oriented Robot Programming System Based on Knowledge of Handling Parts.

这项研究有两个目的。一是利用曲面的倾斜度、距离和边缘等信息开发基于模型的视觉系统。二是利用装配部件知识和任务内容实现面向对象的机器人编程系统。在后一项研究中，包括通过应用一些实例来阐明编程系统的效用。在视觉系统方面，我们提出了一种基于物体表面特征对一堆物体进行识别和定位的方法。此外，我们还介绍了一种适合多种图像处理技术的分层视觉数据结构，并通过实验证明了该结构的有效性。对于机器人编程系统，我们开发了一种并发的面向对象语言“THERA”，并阐明了这种语言在描述多个机器人的任务程序方面的优势。利用该语言，给出了一种自动生成零件装配树和确定每个零件抓取计划的方法。此外，我们还介绍了一种基于初始状态、目标状态以及对部件和任务的了解来确定动作顺序的机器人问题求解方法。该机器人问题解决系统利用时间逻辑推理和部件和任务的元知识。

This research has two purposes. The one is to develop a model based vision system using information such as inclines, distances and edges of surfaces. The other is to implement an object oriented robot programming system utilizing the knowledge about assembly parts and contents of tasks.In the latter study, it is included to clarify the utility of the programming system by applying to some examples.As for as the vision system is concerned, we propose a method to recognize and locate a specified object for a pile of objects on the basis of surface characterization of the object. Moreover, we introduce a hierarchical visual data structure suitable for utilizing multiple picture processing techniques and experimentally show the usefulness of this structure.For the robot programming system, we develop a concurrent object oriented language 'THERA' and clarify this language good in describing task programs for multiple robots. Using this language, we show a method to automatically generate an assembly tree for parts and to decide a grasp plan for each part. We, moreover, introduce a method for robot problem solving which decides an action sequence on the basis of an initial state, a goal state and knowledge about parts and the task. This robot problem solving system utilizes a reasoning by temporal logic and a meta knowledge of parts and tasks.