1992 Fiscal Year Final Research Report Summary
Studies on cooperative systems of multiple robots by use of knowledge concerned with task-context and task-circumstance
| Project/Area Number |
02452182
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | KYUSHU UNIVERSITY |
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Principal Investigator |
NAGATA Tadashi Kyushu Univ., Dept. of CSCE Professor., 工学部, 教授 (20136542)
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| Co-Investigator(Kenkyū-buntansha) |
OKADA Nobihiro Kyushu Univ., Dept. of CSCE research asso, 工学部, 助手 (80224020)
KIMURO Yosihiko Kyushu Univ., Dept. of CSCE research asso, 工学部, 助手 (30205009)
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| Project Period (FY) |
1990 – 1992
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| Keywords | Temporal Logic / Planning System / AND / OR Graph / Motion Planning / Visual Data Structure / Rule Based Control / Cooperative Control of Manipulators / マニピュレータの協調制御 |
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| Research Abstract |
Researches on cooperation of multiple robots have been done corresponding to following three levels;(1) task planning level,(2) recognition and modeling level and (3) manipulator control level.
(1) Developing a method of obtaining task-sequences for performing subgools by use of temporal logic,we developed a new and efficient planning system for multiple robots on the basis of this method. Scondly,as for as robot assembly planning based on AND/OR graph is concerned, automatic generation of planning by use of the knowledge of parts and assembly-resolution processes and efficient search method of the tree were developed.
(2) A separation method of surfaces of an object by use of surfaces in formation and a recognition method of 3-D curved objects were proposed.A modeling method of 3-D objects wasalso proposed on the basis of extracting saliency of objects automatically. Integration of primitive image processings and its applications by use of hierarchical hexagonal image structure were also performed.
(3) Control rules at a task level for cooperative tasks with multiple manipulators were developed by use of force control algorithms based on fundamental fuzzy rules, and resultsof applying these rules to some cooperative tasks revealed the usefulness of this approach. This rule based control method of multiple manipulators is hierarchically constructed byrules belongs to some levels, and is seemed to be very flexible and applicable to complicated tasks.
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