スキルに基づくマニピュレーションシステム

抄録

This paper proposes“skill”of manipulator to execute complex tasks. Skills are essential and elemental motions obtained by analysis of motions needed to execute target tasks. Since the skills are made to be adaptable to the task environment using force control, sensor feedback and so on, the elemental sub-tasks can be reliably accomplished with the corresponding skills. Highter level system can program or plan to execute a complex task by combining skills without knowing complex control of them. In this paper, considering assembly tasks as realization of target contact states, we analyze contact states appearing in polygonal assembly tasks and skills for the tasks are obtained by the analysis. Some of them have been realized using DD-manipulator: ETA3, and successfully applied to insertion of square pole.