The Proceedings of Manufacturing Systems Division Conference
Online ISSN : 2424-3108
2013
Session ID : 315
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315 View-based Teaching/Playback Considering Occlusion
Yoshito SAITOYusuke MAEDA
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Abstract
In this paper, we studied a new method for robot programming: view-based teaching/playback. It can achieve more robustness against changes of task conditions, such as initial positions of the object, than conventional teaching/playback. We devised an algorithm to switch images used for the view-based teaching/playback adaptively between full-images and sub-images. In application to pushing tasks by an industrial manipulator, view-based teaching/playback with the algorithm succeeded even in the case of occlusion.
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© 2013 The Japan Society of Mechanical Engineers
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