極限作業ロボットのための教示ツリーを用いた面ベースの環境モデリング

概要

論文の詳細を見る
Geometric modelling of the environment is important in robot motion planning. Generally, shapes can be stored in a data base, so the elements that need to be decided are positions and orientations. In this paper, surface-based geometric modelling using a teaching tree is proposed. In this modelling, combinations of surfaces are considered in order to decide positions and orientations of objects. The combinations are represented by a depth-first tree, which makes it easy for the operator to select one combination out of several. This method is effective not only in the case when perfect data can be obtained, but also when conditions for measurement of three-dimensional data are unfavorable, which often occur in the environment of a working robot.
社団法人日本機械学会の論文
2000-09-25