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
DOIs
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

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

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic 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 (pp. 2394-2400). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). https://doi.org/10.1109/ROBOT.1995.525618