Approach to Specifying Fine Manipulation Tasks for Intelligent Robots.

摘要

The Manipulation By Constraint System (MBC) provides a fast and effective tool for specifying robotic fine manipulation tasks and increases the feasibility of new robot applications by simplifying the problems associated with generation of the required robot application programs. The system provides a mechanism for displaying component parts, and for viewing the parts from arbitrary angles. Component parts can be combined into subsystems, grouped, and added to a general library of parts. Parts and subsystems can be assigned origin locations and orientations which represent their initial locations in space - in practice these poses would be the poses of the parts in feeders or in part kits. The position of a robot gripper on the parts, and the actual assembly steps are specified by selecting object features graphically using a mouse, and then selecting one of fifteen primitive operations from a pull down menu. MBC generates an output file which can be used to control a robot to perform the defined assembly tasks. The output file includes the approximate position of key poses defined during the assembly specification process, and it also includes the information giving the primitive operations which are being performed.