Task skill transfer of bolt attachment task

W. Yoon, T. Suehiro, H. Onda, K. Kitagaki
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引用次数: 3

Abstract

This paper describes how to write a task skill program for a bolt attachment. One of important features in this paper is that it is easy to find a knack for an axis adjustment and to program the axis adjustment. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. A motion process of the task skill is defined from the teleoperation procedure. The necessary parameters of the task skill are obtained from the results of teleoperation experiment. Thus, the task skill is generated from the teaching data and the teaching intention (motion strategy). In this paper, our task skill transfer method is applied to the bolt attachment. Some experiments show an efficiency of the bolt attachment task skill.
螺栓连接任务的任务技能转移
本文介绍了如何编写螺栓附件的任务技能程序。本论文的一个重要特点是易于找到轴的调整方法和编制轴的调整程序。在之前的文章中,我们提出了一种使用双侧遥操作的任务技能转移方法。任务技能由初始条件、任务技能动作和最终条件组成。初始和最终条件由力和末端执行器的位置描述。任务技能运动采用阻抗/力混合控制实现。这种阻抗/力混合控制对位置误差有效。从遥操作过程中定义了任务技能的运动过程。从遥操作实验的结果中获得了任务技能的必要参数。因此,任务技能是由教学数据和教学意图(动作策略)产生的。本文将任务技能转移法应用于螺栓连接。一些实验证明了螺栓连接任务技巧的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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