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

基于处理零件知识的面向对象机器人编程系统。

• 批准号: 62460143
• 负责人: NAGATA Tadashi
• 金额: $ 4.61万
• 依托单位: Kyushu University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1989
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-62460143/
• 关键词: Measurement and Recognition of Curved Object; Model Based Vision; Hierarchical Structure of Visual Data; Object Oriented; Robot Programming System; Task Planning; 両眼立体視の対応点沢定法; オブジェクト指向プログラミングシステム; 時制推論; プランニングシステム; 曲面体の特徴抽出; 両眼立体視の対応点決定法; ロボッ

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.

这项研究有两个目的。一种是开发一个基于模型的视觉系统，利用曲面的倾斜、距离和边缘等信息。另一种是利用装配零件和任务内容的知识实现面向对象的机器人编程系统。在第二种研究中，通过一些实例来说明编程系统的实用性。对于视觉系统，我们提出了一种基于物体表面特征的方法来识别和定位一堆物体的特定物体。在机器人编程系统中，我们开发了一种并发面向对象的语言TERRA，说明了该语言能够很好地描述多机器人的任务程序。利用该语言，给出了自动生成零件装配树和确定各零件抓取方案的方法。此外，我们还介绍了一种机器人问题求解的方法，该方法根据初始状态、目标状态以及关于零件和任务的知识来确定动作顺序。该机器人问题求解系统利用了时序逻辑推理和零件和任务的元知识。

项目成果

TADASHI NAGATA: "Determining Orientation, Location and Size of Primitive Surfaces by Modified Hough Transformation Technique" Pattern Recognition, Vol.21, No.5, pp.481-491(1988).

TADASHI NAGATA：“通过改进的霍夫变换技术确定原始表面的方向、位置和大小”模式识别，第 21 卷，第 5 期，第 481-491 页（1988 年）。

長田正: IEEE Journal of Robotics and Automation.

Tadashi Osada：IEEE 机器人与自动化杂志。

SHIGETO ARAMAKI: "Generation of Robot Task Program Utilizing Computer-Aided Design data" Proc. of IECON'87, (1987).

SHIGETO ARAMAKI：“利用计算机辅助设计数据生成机器人任务程序”Proc。

TADASHI NAGATA: "An Approach for Conjunctive Goal Problem Solving in Planning: Deducing of order relation by using temporal reasoning" Journal of JSAI.

TADASHI NAGATA：“规划中联合目标问题解决的方法：使用时间推理推导顺序关系”JSAI 杂志。

Shigeto ARAMAKI: "Object Oriented Approach for Task Level Robot Programming" Proc.of IECON '87,(1987). (1987)

Shigeto ARAMAKI：“任务级机器人编程的面向对象方法”Proc.of IECON 87，（1987）。