2012 Fiscal Year Final Research Report
Programming less Force Controlled Finishing Robot System usingEnvironment and Task Motion Framework Technology
| Project/Area Number |
22560249
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shibaura Institute of Technology |
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Principal Investigator |
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| Research Collaborator |
MURAKAMI Hiroki (株)IHI, 技術開発本部, 副所長
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| Project Period (FY) |
2010 – 2012
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| Keywords | ロボティクス / 仕上げ作業 |
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| Research Abstract |
To realize a finishing robot system which can execute many kinds of finishing tasks easily, we introduced environment and task motion framework technology to the system. This framework technology formalizes the information which is necessary for the robot to execute desired tasks, and distributes the information in the robot working environment. We have proposed a concrete framework for automatic robot control program generation system which extracts the information in the tools, workpieces, robots, etc., and generates the robot control program. Basic motions and functions, problems to be solved for its implementation of the proposed framework are conformed through experiments by using the developed trial system
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