Model-Based Approach to High-Level Robot Control with Visual Guidance

摘要

The study approaches the intelligent robot control problem by viewing the computational elements and their relations in the higher levels of control hierarchy. A conceptual model with a four level hierarchical framework is proposed, consisting of three generic activities: planning, executing, and monitoring. The time dependency aspects are considered by including time constraints in plans and by describing the time relations between planning, executing, and monitoring with a specific meta-control mechanism. Further examination is made in three case studies. First, a human operator supported with enhanced interaction equipment is included in the robot control as a high-level task planner and environment analyzer. Second, a knowledge-based task and action planner is presented for the control of electronic component assembly with sensory guidance. Third, visual guidance for a general approach motion is formulated and an action planner is presented for planning robot motions and sensing operations of a 3D vision sensor. A special feature in the sensing in both cases of sensory guidance is the aspect of hand-eye co-operation. (Copyright (c) Valtion teknillinen tutkimuskeskus (VTT) 1990.)