不確実性を持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

• 野中 潔

  日本電信電話 (株) NTTヒューマンインタフェース研究所

• 柿崎 隆夫

  日本電信電話 (株) NTTヒューマンインタフェース研究所

書誌事項

タイトル別名

• 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.
• フカクジツセイ オ モツ リサンテキ センサ データ ニ モトズク クウカン
• —System Concept and Path Generation Theory—
• ―システムコンセプトと経路関数生成法―

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

  一般社団法人 日本ロボット学会

キーワード

• Robotic Manipulator
• Arc Welding
• Seam Tracking
• Visual Sensing
• Path Planning

詳細情報

• CRID: 1390001204727266944
• NII論文ID: 10002864093
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.16.662
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4522826
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4522826
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可