非结构化环境下基于模型、基于技能执行的操作系统

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/70.163779

T. Hasegawa, Takashi Suehiro, K. Takase

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引用次数: 136

摘要

本文介绍了一种基于模型的机器人系统。该系统是为了取代和改进传统的“以教带重”的机器人控制方案而开发的。该系统的关键概念是将操作技能与环境模型相结合。该模型提供了环境中物体的几何结构和物理特性。操作技巧能够在不可避免的错误和不确定性存在的情况下可靠地执行任务。利用该系统成功地实现了阀门的拆卸。

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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A model-based manipulation system with skill-based execution in unstructured environment

This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Disassembly of a valve has been successfully achieved by using this system.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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