TY - GEN
T1 - Task-level teaching system with trajectory planning for industrial robots
AU - Sato, Shuichi
AU - Nakano, Masaru
AU - Kubota, Fumiko
AU - Sugiura, Norio
AU - Tanaka, Minoru
AU - Koyama, Toshihiko
AU - Nakayama, Seiya
PY - 1995
Y1 - 1995
N2 - In this paper, we propose a new teaching system, ROPSII, by which the user can teach a robot a task with a task-level language. ROPSII has three features. First, the operator can make three-dimensional visual programming based on our object-oriented language. For the flexibility of the language, the operator can easily apply our system to various tasks. Second, the operator can describe the failure recovery sequence separately from the main task sequence and automatically generate a detailed command sequence with a part sending a signal from the robot to the peripheral equipment and vice versa. These procedures are easy; the operator can perform them as if giving directions to a person to do so. Third, the operator can automatically develop a collision avoidance trajectory. It's generated by the original algorithm which efficiently operates as an off-line teaching system. We will introduce our recent approaches for establishing the new teaching system and discuss the applicability of the system in this paper.
AB - In this paper, we propose a new teaching system, ROPSII, by which the user can teach a robot a task with a task-level language. ROPSII has three features. First, the operator can make three-dimensional visual programming based on our object-oriented language. For the flexibility of the language, the operator can easily apply our system to various tasks. Second, the operator can describe the failure recovery sequence separately from the main task sequence and automatically generate a detailed command sequence with a part sending a signal from the robot to the peripheral equipment and vice versa. These procedures are easy; the operator can perform them as if giving directions to a person to do so. Third, the operator can automatically develop a collision avoidance trajectory. It's generated by the original algorithm which efficiently operates as an off-line teaching system. We will introduce our recent approaches for establishing the new teaching system and discuss the applicability of the system in this paper.
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U2 - 10.1109/ROBOT.1995.525618
DO - 10.1109/ROBOT.1995.525618
M3 - Conference contribution
AN - SCOPUS:0029178704
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2394
EP - 2400
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - IEEE
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Y2 - 21 May 1995 through 27 May 1995
ER -