Condition to select appropriate control policies for complex assembly based on object structure with constraints and compliance
| Project/Area Number |
20700189
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
YAMANOBE Natsuki National Institute of Advanced Industrial Science and Technology, 知能システム研究部門, 研究員 (90455436)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 知能ロボティクス / 技能解析 / スキルトランスファー / 組立作業 / 力制御 / 作業状態認識 / 対象物形状 / コンプライアンス構造 |
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| Research Abstract |
This research aims to develop a method to plan robotic motions for complex assembly. To achieve complex assembly, appropriate control policies need to be selected based on task conditions. Thus, object structure represented by constraints and compliance between target objects is proposed to develop a task procedure and analyze a target task. In this research period, I have focused on dry battery insertion for presenting an example. Control policies for the task were obtained based on human demonstration and conditions for selecting policies were determined based on the object structure. Finally, it is shown that the target task was achieved with the developed assembly motion by experiments.
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Report
(4 results)
Research Products
(6 results)
