机器人装配技能的视觉和力驱动感觉运动原语

J. D. Morrow, B. Nelson, P. Khosla
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引用次数: 23

摘要

将传感器集成到机器人系统中是提高机器人制造系统灵活性的重要一步。目前的传感器集成很大程度上是针对特定任务的,这阻碍了灵活性。作者正在开发一种感觉运动命令层,它封装了感知和动作的有用组合,可以应用于一个领域内的许多任务。传感器运动命令为终止任务策略计划提供了更高的层次,从而简化了传感器驱动机器人程序的开发。本文报道了力驱动命令和视觉驱动命令的发展,并成功地应用于两种不同的连接器插入实验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Vision and force driven sensorimotor primitives for robotic assembly skills
Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.
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