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1989 Fiscal Year Final Research Report Summary

A humanic controller for a maipulator arm via automatic skill acquisition from human experts

Research Project

Project/Area Number 63460107
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionKYOTO UNIVERSITY

Principal Investigator

TOKUMARU Hidekatsu  Kyoto University, Faculty of Engineering, Professor, 工学部, 教授 (50025813)

Co-Investigator(Kenkyū-buntansha) IIGUNI Youji  Kyoto University, Faculty of Engineering, Assistant Professor, 工学部, 助手 (80168054)
ISHIDA Yoshiteru  Kyoto University, Faculty of Engineering, Assistant Professor, 工学部, 助手 (80159748)
Project Period (FY) 1988 – 1989
KeywordsImpedance control / Control rule / Hybrid control / Intelligent control / Simulation / Signal processing / Artificial intelligence / Divect dvive robot
Research Abstract

An approach to the teaching of skills that human workers have acquired in performing specific tasks is presented, and a humanic controller for a manipulator arm is designed.
First, a skilled worker shows how to perform a given task, and his motions are measured. The force exerted by the worker and the displacement of the tool are analyzed and the relationship is derived from the data by using a curve fitting technique. The identified relationship is used as a reference model for controlling a manipulator arm to replicate the expert motion. The impedance with which a human expert holds the grinding tool is identified and transferred to the robot controller so that the system may follow the impedance model. Secondly, an efficient method is developed to generate programs for the hybrid position/force control of robots from teaching data.
An operator's motion is measured in terms of the force exerted by the operator and the position of the end-effector. The acquired data are then analyzed to … More understand what the operator intended to do, and the hybrid control program is generated. Determinations are made of which control mode, position or force, should be taken in each direction, how much force should be exerted, and what trajectory the end-effector should follow. The interpreted motion is then translated into a robot language, which explicitly describes the motion strategy that the human operator conceived. Lastly, the teaching of manipulative skills is developed. Teaching data acquired from a human expert are processed on a computer to attain;his skillful manipulation strategies.
The strategies are described by a group of control laxs that relate sensor signals to motion commands. Sensor signals are processed by using pattern recognition techniques to interpret sensor information and to allow the robot to recognize the state of the process.The control laws designate which control action the robot should take in response to each signal pattern generated in the process. It is demonstrated that the robot can mimic the skillful manipulation of the human expert and perform the task efficiently. Less

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] H.Asada: "The direct teaching of tool manipulation skills via the impedance identification of human nations" Proc.1988 IEEE Int.Conf.Robotics & Automation. 2. 1269-1277 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Asada: "The identification of impedance in tool manipulation for the Teaching of force-controlled robots" Proc.2nd USA-JAPAN Symposium on Flexible Automation. 2. 309-315 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 平井慎一: "組み立て作業における接触状態の位置力信号の解釈による識別とモデルをもとにした識別手続き" 計測自動制御学会論文誌. 26. 225-232 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Asada: "Automatic program generation from teaching data for the hybrid control robots" IEEE Trans.Robot.Autom.5. 166-173 (1989)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 浅田春比古: "熟練作業者の動作計測による工具支持インピ-ダンスの同定とロボットの作業教示" 計測自動制御学会論文誌. 24. 1291-1298 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Asada: "Skill acquisition from human expects through pattern processing of teaching data" Proc.1989 IEEE Int.Conf.Robotics & Automation. 3. 1302-1307 (1989)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H. Asada and Y. Asari: "The direct teaching of tool manipulation skills via the impedance identification of human motions" Proc. of the 1988 IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 1269-74 1988.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Asada and Y. Asari: "The identification of impedance in tool manipulation for the teaching of force-controlled robots" Proc. 2nd USA-JAPAN Symp. on Flexible Automation, vol. 2, pp. 309-315 1988.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S. Hirai, H. Asada, and H. Tokumaru: "A model-based approach to the interpretation of force and position sensor signals for the process monitoring of assembly operations" Trans. Soc. Instrum. Control Eng., vol. 26, pp. 225-232 1990.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Asada and H. Izumi: "Automatic program generation from teaching data for the hybrid control of robots" IEEE Trans. Robot. Autom., vol. 5, pp. 166-173 1989.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Asada, Y.Asari: "The identification of tool suspension impedance via the measurement of expert motions and its application to robot teaching" Trans. Soc. Instrum. Control Eng., vol. 24, pp. 1292-1298, 1988.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Asada and B.-H. Yang: "Skill acquisition from human experts through pattern processing of teaching data" Proc. 1989 IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 1302-1307, 1989.

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1993-03-26  

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