環境モデルと作業スキルの統合によるロボット作業システム

抄録

This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and physical properties of the objects in the environment. An interactive geometric modeling system has been developed to generate accurate model through a good manmachine interface. The manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Using the ETA-3 direct-drive manipulator, skills are implemented within the hybrid (position/velocity/torque) control scheme and are incorporated with sensing procedures to detect the state to be achieved, disassembly of a valve has been successfuly achieved by using this system.