Condition to select appropriate control policies for complex assembly based on object structure with constraints and compliance

根据具有约束和合规性的对象结构为复杂装配选择适当的控制策略的条件

• 批准号: 20700189
• 负责人: YAMANOBE Natsuki
• 金额: $ 2.83万
• 依托单位: National Institute of Advanced Industrial Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2008
• 资助国家: 日本
• 起止时间: 2008 至 2010
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-20700189/
• 关键词: 知能ロボティクス; 技能解析; スキルトランスファー; 組立作業; 力制御; 作業状態認識; 対象物形状; コンプライアンス構造

This research aims to develop a method to plan robotic motions for complex assembly. To achieve complex assembly, appropriate control policies need to be selected based on task conditions. Thus, object structure represented by constraints and compliance between target objects is proposed to develop a task procedure and analyze a target task. In this research period, I have focused on dry battery insertion for presenting an example. Control policies for the task were obtained based on human demonstration and conditions for selecting policies were determined based on the object structure. Finally, it is shown that the target task was achieved with the developed assembly motion by experiments.

本研究旨在发展一种方法来规划机器人运动的复杂装配。为了实现复杂的装配，需要根据任务条件选择合适的控制策略。因此，提出了由目标对象之间的约束和顺应性表示的对象结构，以开发任务过程并分析目标任务。在本研究期间，我专注于干电池插入，以提供示例。基于人的示范获得任务的控制策略，并基于对象结构确定选择策略的条件。最后，通过实验表明，所开发的装配运动实现了目标任务。

项目成果

Motion Genera tion for Clutch Assembly by Integration of Multiple Existing Policies

通过集成多个现有策略来生成离合器组件的运动

• 发表时间: 2008
• 期刊: Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Natsuki Yamanobe;Hiromitsu Fujii;T amio Arai;Ryuichi Ueda
• 通讯作者: Ryuichi Ueda

Analysis of Assembly Skill s for Dry Battery Insertion based on Force Control Parameters

基于力控参数的干电池插装装配技术分析

• 发表时间: 2009
• 期刊: Proc. of IEEE International Conference on Robotics an d Biomimetics
• 作者: Natsuki Yamanobe;Hiromitsu Fujii;T amio Arai
• 通讯作者: T amio Arai

Analysis of Assembly Skills for Dry Battery Insertion based on Force Control Parameters

基于力控参数的干电池插装装配工艺分析

• 发表时间: 2009
• 期刊: Proc. Of IEEE International Conference on Robotics and Biomimetics
• 作者: Natsuki Yamanobe;Hiromitsu Fujii;Tamio Arai
• 通讯作者: Tamio Arai

Motion Generation for Clutch Assembly by Integration of Multiple Existing Policies

通过集成多个现有策略来生成离合器组件的运动

• 发表时间: 2008
• 期刊: Proc. Of 2208 IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Natsuki Yamanobe;Hiromitsu Fujii;Tamio Arai;Ryuichi Ueda
• 通讯作者: Ryuichi Ueda

対象物の形状と構造に基づく組立作業分類方法の提案

基于物体形状结构的装配作业分类方法的提出

• 发表时间: 2009
• 作者: 山野辺夏樹;音田弘;尹祐根;神徳徹雄
• 通讯作者: 神徳徹雄