用于捕捉人类操纵技能的可视化编程

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583077

S. Tso, K. Liu

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引用次数: 16

摘要

本文描述了一种将操作者的操作技能直接传递给机器人的可视化编程方法。目的是让机器人通过观察人类专家在他/她自己的工作空间中的移动来学习。安装在锥形刀具表面上的基于标记的视觉系统，在计算机计算的辅助下，加速了高速高精度的位置信息采集。通过系统中提供的计算机图形工具在线检查机器人可能违反的物理约束，这些工具也用于随后的自动路径优化。

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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Visual programming for capturing of human manipulation skill

The paper describes a visual programming approach to transferring the operator's manipulation skill directly to the robot. The objective is to let the robot learn by observing the human expert moving in his/her own work space. High-speed and high-precision acquisition of the location information is expedited by a marker-based visual system mounted on a conic tool surface, assisted by transputer calculation. Possible violation of the robot physical constraint is checked online with the provision of computer graphic facilities in the system which are also used for subsequent automatic path refinement.

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来源期刊

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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