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.