組立構造と作業スキルを利用した組立動作生成法

抄録

This paper describes a method of generating an assembly action sequence from the task skill and the assembly architecture obtained from product design. The state space of executing assembly actions are defined in terms of qualitative landmarks which consist for example, of the state of objects and the state of a robot. We will also describe a method of controlling actions (fine motion planning) by monitoring the state of a force sensor and a position sensor, and show a modeling style of hierarchical intelligent control.