System structure and description for tool manipulation

Introduces the concept of a tool manipulation strategy (TMS) for a robot controller to guarantee both easy task description and reliable task execution. The authors believe that a method for tool manipulation is essential for manufacturing tasks. TMS provides easy implementation and description of a skilful worker's knowledge about tool manipulation. It is a two-level concept: the first level is the fundamental motion strategy for executing a task generated offline and the second level is the strategy for modifying the first-level TMS according to the task conditions in real time. The authors implemented a tool manipulation module for robotic deburring based on the TMS concept into an experimental task execution system (called NOAC) and performed a deburring experiment to determine the effectiveness of TMS.

Authors

• Satoru Matsuo
• Kenichiro Shimokura
• Yukihiro Kubota
• Eiji Mitsuya
• Makoto Mizukawa

Keywords

• Deburring
• Robot control
• Uncertainty
• Humans
• Educational robots
• Manufacturing
• Force control
• Control systems
• Laboratories
• Welding
• Use Of Tools
• Task Execution
• Specific Tasks
• Teaching Methods
• Sensory Information
• Modularity
• Robotic System
• System Configuration
• Physical Constraints
• Laser Ranging
• Coordination Task
• Path Generation
• Velocity Tracking
• Nominal Trajectory