论文信息 - The representation method of robotic assembly task with click action

The representation method of robotic assembly task with click action

The skill of robotic task has been studied in many research institutes. We have been researching the skill for the assembly of the consumer products. We has developed the original knowledge representation for robotic assembly task with the position and force control. We proposed the representation method of the skill that a human has and the construction method of a knowledge base for robotic assembly task. In this paper, we analyzed the assembly task with the click action. And, we proposed the knowledge representation that checked the differential value of the sensor. As a result, the representation of the assembly task with the click action became possible. In addition, we programmed the proposed representation and confirmed the assembly work in an actual robot with the click action. Then, the effectiveness of the representation was confirmed.

S. Aramaki | T. Nagai

[1] Shigeto Aramaki,et al. Method of Generating Assembly Action Using Assembly Architecture and Task Skill. , 1994 .

[2] Hiroshi Kimura,et al. Understanding of Human Assembly Tasks for Robot Execution Generation of Optimal Trajectories Based on Transitions of Contact Relations , 2004 .

[3] Shigeto Aramaki,et al. Representation and Programming for a Robotic Assembly Task Using an Assembly Structure , 2007, 7th IEEE International Conference on Computer and Information Technology (CIT 2007).

[4] Hiroyuki Fujioka,et al. Task Understanding of Pushing a Block along a Wall , 2004 .

[5] Shigeto Aramaki,et al. An Assembly Structure using Functional Element for Product Assembly Sequence Generation , 2006, The Sixth IEEE International Conference on Computer and Information Technology (CIT'06).