Method of deciding task position and orientation using threeindexes related to robot, sensor, and tool-application to tool-trackingtask performed by sensor enhanced robot

摘要

Teaching a sensor-enhanced robot under many task constraints isvery difficult even for skilled operators, let alone novice operators.The problem is that the indexes for performing a robotic task, which theoperators should simultaneously pay attention to, are not clear. Toovercome this problem, we classify the task constraints into threeindexes for robot, tool and sensor. We substitute the weighted indexesinto the null-space method and generate robot motion for performing atask. We use this method in a tool-manipulation task such as welding andexperimentally confirm the usefulness for reflecting the operator'steaching skill on the end-effector position and orientation usingweights of indexes. Moreover we discuss the extraction of the operator'sskills from teaching data as weights of these indexes