位置不確定性存在下でのオフライン教示システムの―構成法

抄録

The ability to achieve desired contact states between robots and objects, and to recognize their achievement on-line is necessary for reliable task execution in the presence of uncertainty. It also enables reliable off-line teaching and put it in practical use. Three basic motions to achieve basic contact states are defined and a control algorithm and a reliable recognition algorithm using force/moment sensor data for each motion are proposed. The combination of these basic motions realizes various complex contact states. That means general recognition and achievement of contact states are realized by combination of basic motions. The ability to achieve desired contact states enables the off-line teaching system to teach only desired contact states, so that small errors between actual parts' positions and those in the environment model do not influence task execution. An off-line teaching system equipped with commands to execute basic motions and an on-line control system with the ability to control force for execution of basic motions and to recognize their achievement are developed. The off-line teaching of small tasks and their execution by acutal manipulator are presented.