TaskSkill Transfer ofBoltAttachment Task

Thispaperdescribes howtowrite a taskskill programforaboltattachment. Oneofimportant features inthispaperisthatitiseasytofinda knackforan axisadjustment andtoprogramtheaxisadjustment. Ina previous paper, we proposed a taskskill transfer method using abilateral teleoperation. Thetaskskill iscomposed of aninitial condition, ataskskill motion andafinal condition. Theinitial andfinal conditions aredescribed bytheforce andtheposition oftheend-effector. Thetaskskill motion isimplemented bythehybrid impedance/force control. This hybrid impedance/force control iseffective toa positional error. A motion process ofthetaskskill isdefined fromthe teleoperation procedure. Thenecessary parameters ofthetask skill areobtained fromtheresults ofteleoperation experiment. Thus, thetaskskill isgenerated fromtheteaching dataand theteaching intention (motion strategy). Inthis paper, our taskskill transfer methodisapplied totheboltattachment. Someexperiments showsanefficiency ofthebolt attachment taskskill. IndexTerms-Bolt attachment, Taskskill transfer, Bilat- eralteleoperation, Hybrid impedance/force control