By Topic

Method of deciding task position and orientation using three indexes related to robot, sensor, and tool-application to tool-tracking task performed by sensor enhanced robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
T. Machino ; NTT Cyber Space Lab., Tokyo, Japan ; Y. Nanjo ; M. Tsuda

Teaching a sensor-enhanced robot under many task constraints is very difficult even for skilled operators, let alone novice operators. The problem is that the indexes for performing a robotic task, which the operators should simultaneously pay attention to, are not clear. To overcome this problem, we classify the task constraints into three indexes for robot, tool and sensor. We substitute the weighted indexes into the null-space method and generate robot motion for performing a task. We use this method in a tool-manipulation task such as welding and experimentally confirm the usefulness for reflecting the operator's teaching skill on the end-effector position and orientation using weights of indexes. Moreover we discuss the extraction of the operator's skills from teaching data as weights of these indexes

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: