センサベーストロボットシステムのための運動情報マネージメント

―運動情報に基づく作業点誤差モデリングと倣いロボット診断への応用―

抄録

Integrated motion information management for use in highly accurate sensor-based robot systems that increases the precision and quality of robotic tasks is described. In this method, the sources of the recognition errors are easily identified by introducing the error-model using the information obtained by the proximity sensor as well as the information about the robot motion acquired by commanded simple testing motions, and these identified error-sources are used to reduce the recogniton errors. Motion reliability is determined based on the robot-motion information, and this reliability is used to reduce the influence of the recognition errors to the whole sensor-based robot system. As a result of this tuning the sensor-based robot system is set up to be close to optimal as possible. Experimental results from a typical visual path-tracking task showed that the tracking error is significantly reduced by using this motion information management system.