Task-level teaching system with trajectory planning for industrial robots

Shuichi Sato, Masaru Nakano, Fumiko Kubota, Norio Sugiura, Minoru Tanaka, Toshihiko Koyama, Seiya Nakayama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2394-2400
Number of pages7
Volume3
DOIs
Publication statusPublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

Fingerprint

Industrial robots
Teaching
Trajectories
Planning
Robots
Object oriented programming
Collision avoidance
Computer programming
Recovery

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Sato, S., Nakano, M., Kubota, F., Sugiura, N., Tanaka, M., Koyama, T., & Nakayama, S. (1995). Task-level teaching system with trajectory planning for industrial robots. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2394-2400) https://doi.org/10.1109/ROBOT.1995.525618

Task-level teaching system with trajectory planning for industrial robots. / Sato, Shuichi; Nakano, Masaru; Kubota, Fumiko; Sugiura, Norio; Tanaka, Minoru; Koyama, Toshihiko; Nakayama, Seiya.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 1995. p. 2394-2400.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sato, S, Nakano, M, Kubota, F, Sugiura, N, Tanaka, M, Koyama, T & Nakayama, S 1995, Task-level teaching system with trajectory planning for industrial robots. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 2394-2400, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21. https://doi.org/10.1109/ROBOT.1995.525618
Sato S, Nakano M, Kubota F, Sugiura N, Tanaka M, Koyama T et al. Task-level teaching system with trajectory planning for industrial robots. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 1995. p. 2394-2400 https://doi.org/10.1109/ROBOT.1995.525618
Sato, Shuichi ; Nakano, Masaru ; Kubota, Fumiko ; Sugiura, Norio ; Tanaka, Minoru ; Koyama, Toshihiko ; Nakayama, Seiya. / Task-level teaching system with trajectory planning for industrial robots. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 1995. pp. 2394-2400
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