手順書のイラスト画像系列を用いた組立作業計画

抄録

This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. This method generates an Assembly Task Sequence Graph (ATSG), which is a network structure that defines a series of assembly tasks, including the motions of each object that satisfy the constraints. Based on the proposed method, an ATSG for assembling a chair is generated, and finally the chair assembly task is done by the robot.