熟練作業者の作業計測による制御判断則の獲得とロボットの作業教示

概要

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A new approach to the teaching of manipulative skills is developed and applied to a deburring robot. Teaching data acquired from a human expert, who can perform an efficient job, are processed on a computer in order to attain his skillful manipulation strategies. The strategies are described by a group of control laws that relate sensor signals to motion commands. Sensor signals are processed by using pattern recognition techniques in order to interpret sensor information and to allow the robot to recognize the state of the process. The attained control laws designate which control action the robot should take in response to each signal pattern generated in the process. A method of deriving a compact set of discriminate functions for real-time, recognition of signal patterns is also discussed. The method is implemented on a direct-drive deburring robot. It is demonstrated that the robot can mimic the skillful manipulation of the human expert and perform the task efficiently.
一般社団法人日本ロボット学会の論文