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Task Programming for Robots Using Multi-mode Control – Preparation of Modes to Generate Motions for Disassembly Task –

作     者:Kazuo Tani Takuya Kawamura Masanori Owaki 

作者机构:Gifu University Gifu 501-1193 Japan Toyota Industries Corporation Toyodacho Kariya 448-8671 Japan 

出 版 物:《IFAC Proceedings Volumes》 

年 卷 期:2009年第42卷第16期

页      面:143-148页

主  题:Task Motion Task programming Sensorimotor control Multi-mode control Disassembly 

摘      要:Abstract Based on the consideration of tasks and motions and their relations, a method called “multi-mode control is proposed to facilitate programming of robot tasks that require sensorimotor control. In this method, a mode defines a specific relation of sensor information and robot motion. A string of modes which correspond to the interactions of robot and environment constitutes a task program. Modes useful for disassembly tasks, beside others, are implemented. Tasks such as peg extraction are programmed using these modes and performed successfully.

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