1A2-D04 操作型作業機械の知能化に関する研究 : 第5報:操作支援に着目した作業特性および操作支援フラグの識別

概要

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We understand that primitive static states (PSS), which we have defined, are useful for work or skill analysis, but PSS are not useful for operational support because PSS determine with using only on-off information. In this study, we propose a work state identification for operational support, which includes an identification of the most basic construction work property by modifying PSS and an extraction of operational support providing flag by applying modified-PSS to time-series data. Experiments in transporting and removing tasks using our hydraulic dual arm system indicated that operator supports based on the proposed identification method improves work performance, including decreasing the time taken to complete a task, and the number of error operation, and reducing the moving distance of end-effector after breaking an object.
2009-05-25