教示ソフトウェアのためのコントローラ実装フレームワーク

抄録

This paper organizes the information necessary to implement commands appearing in task descriptions for the teaching software using controllers of components such as robot arms and grippers. Considering a class of robot systems and typical commands, we identify different parts and common parts among robot systems. Then we propose a design of a framework to make it easy to implement a controller for these robot systems. In this framework, a controller for the whole system is instantiated by giving information on different parts and combining sub-controllers. Some example implementations are also presented.