不確実性をもつ離散的センサデータに基づく空間経路生成法とそのロボット倣い作業への応用 -システムコンセプトと経路関数生成法- Spatial Path Generation Algorithm using Sampled Sensory Data with Uncertainty and its Application to a Seam Tracking Robotic System -System Concept and Path Generation Theory-

この論文にアクセスする

この論文をさがす

著者

抄録

A spatial path generation algorithm based on visual sensory data and its application to the seam tracking robotic system which can operate even under poor sensing conditions are presented. At first, the concept of the robotic system with a wrist-mounted high performance vision sensor is presented, then an accurate spatial path generation algorithm using sensory data with a reliability coefficient is described. In the algorithm, piecewise polynomial functions are generated from sensory data that is acquired ahead of an end-effector, and the spatial path is recovered by connecting the piecewise polynomial functions successively under the minimum error condition as well as the boundary conditions. Computer simulations and experiments on a spatial path on a curved surface show that the proposed system operates effectively even under disturbances such as sensing noise, irregular tack-welding-beads and a burst of lack of sensory data, often appearing in practical applications.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 16(5), 662-671, 1998-07-15 

    The Robotics Society of Japan

参考文献:  18件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10002864093
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4522826
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
ページトップへ