ＬＡＲＴＳ／Ｔを用いた言語主導型マスタスレーブマニピュレーション法

• 平井 成興

  電子技術総合研究所制御部

• 佐藤 知正

  電子技術総合研究所制御部

書誌事項

タイトル別名

• Language Directed Master-Slave Manipulation method using LARTS/T.

抄録

This paper describes LARTS/T, a Language Aided Robotic Teleoperator System/Teaching oriented version. This system incorporates a high level robot language with a master-slave manipulator system. A new teaching-operating method which uses LARTS/T called LDMSM (Language Directed Master-Slave Manipulation) is also described.<BR>The LARTS/T allows the operator to use language instruction and the master-slave operation cooperatively while preserving the merits of each. The most important feature of the LDMSM is that the structural contents of a task is written with a high level robot language and given to the system before-hand. In this way the system can learn spatial points needed for the task (environment) from the task performed by the operator following the movements derived from the structure. As a result of this feature, operating the system serves to teach to the system in the robot language.<BR>In this paper, experiments performed on a prototype system are described. Results of these experiments demonstrate that the LDMSM is a flexible and intuitive teaching method for a teleoperator. They also show that the LARTS/T has the ability to learn environment and execute the tasks in modified ways while maintaining the immediate usability of teleoperators.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 2 (6), 526-535, 1984

  一般社団法人 日本ロボット学会

キーワード

• Advanced teleoperator
• Robot language
• Language directed master-slave manipulation
• Teaching
• Environment learning

詳細情報

• CRID: 1390282679701725056
• NII論文ID: 130000847529
• DOI: 10.7210/jrsj.2.526
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可