視覚情報を用いたロボットマニピュレータ作業制御システムの試作

概要

論文の詳細を見る
As a trial of the realization of the intelligent robot control system, we construct a task control system of robot manipulator using visual information and show the effectiveness of the system by blocks rearrangement experiments. The task control system consists of following three sub systems. (1) Visual information processing system : The blocks in the inital state are recognized based on visual information aquired from CCD(Charge Coupled Device) camera. (2) Task planning system : The task procedures of blocks rearrangement are generated from the task procedures data base described by the robot macro language. (3) Task executing system : The task procedures are translated into robot manipulator commands, and the blocks rearrangement task can be achieved by robot manipulator. Finally, we show the effectiveness of the proposed task control system of robot manipulator from the experimental results of blocks rearrangement task.
福山大学の論文