Abstract
We have been developing a novel method to program a robot, an APO (Assembly Plan from Observation) method. A human performs assembly operations in front of the APO system's TV camera. The APO system recognizes such assembly operations and generates an assembly plan to repeat the assembly operations using its robot arm. Our system recognizes object configurations after each of assembly operation and then extracts a task model based on a face contact relation. Motion parameters necessary to execute the operation are calculated from oject configurations. A task model is obtained reasonably well from a noisy object recognition result. However, motion parameters are affected by errors in a recognition result. The errors in motion parameters may cause failure of the task execution. This paper proposes a method to correct erroneous motion parameters based on face contact contact relations. In order to maintain the relationship among motion parameters of previous operations, we define an operation dependency list (ODL), a symbolic list of homogeneous transformations to represent operations. We implement this method in the APO system, apply the method to several assembly examples, and verify the effectiveness of the method.
