Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Simulation-Based Task-Level Teaching System with Trajectory Planning for Industrial Robots
Shuichi SATOFumiko KUBOTAMasaru NAKANO
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1999 Volume 12 Issue 8 Pages 461-470


We have proposed a task-level teaching system, in which operators can make programs for robots as if giving directions to persons to do so. This system has three main features. First, by describing the main task and the failure recovery sequence separately, operators can get detailed command sequence with parts sending a signal from the robot to peripheral equipment and vice versa. Second, operators don't have to make a dedicated menu on each task, because our system automatically generates the menu. Third, our language has the function to generate a collision avoidance trajectory. So the entire operation time could be short. This paper will introduce the basic idea of our new system, and demonstrate its availability by showing a prototype system.

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