複数の作業制約と人の判断を融合したロボット教示システムの提案

―センサエンハンストロボットによる経路追従作業への適用―

抄録

Teaching a sensor enhanced robot under many task constraints is very difficult even for skilled operators, let alone novice operators. The problem is that the indexes for performing a robotic task, which the operators should simultaneously pay attention to, are not clear. To overcome this problem, we classify the task constraints into three indexes: for manipulator, tool and sensor. We substitute the weighted indexes into the null-space method and generate robot motion for performing a task. We use this method in a tool-manipulation task such as welding and experimentally confirm the usefulness for reflecting the operator's teaching skill on the end effector position and orientation using weights of indexes. Moreover we discuss the extraction of the operator's skills from teaching data as weights of these indexes.