Paper Info
Title
Task Skill Transfer Of Bolt Attachment Task
Abstract
This paper describes how to write a task skill program for a bolt attachment. One of important features in this paper is that it is easy to find a knack for an axis adjustment and to program the axis adjustment. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. A motion process of the task skill is defined from the teleoperation procedure. The necessary parameters of the task skill are obtained from the results of teleoperation experiment. Thus, the task skill is generated from the teaching data and the teaching intention (motion strategy). In this paper, our task skill transfer method is applied to the bolt attachment. Some experiments shows an efficiency of the bolt attachment task skill.
Year
DOI
Venue
2005
10.1109/CIRA.2005.1554258
2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS
Keywords
Field
DocType
bolt attachment, task skill transfer, bilateral teleoperation, hybrid impedance/force control
Teleoperation,Computer vision,Motion control,Task analysis,Computer science,Simulation,Adaptive system,Skill transfer,Transfer function,Learning by example,Artificial intelligence,Initial value problem
Conference
Citations 
PageRank 
References 
0
0.34
8
Authors
4
Name
Order
Citations
PageRank
Woo-Keun Yoon123723.55
Takashi Suehiro255973.63
Hiromu Onda37312.35
Kosei Kitagaki429732.29