1A2-F02 操作型作業機械の知能化に関する研究 : 第7報 : 時系列遷移情報の利用による基底作業状態の識別性能向上(建設・解体ロボット・メカトロニクス) 1A2-F02 Research on Intelligent Operated-Work Machines : Improvement of Identification Performance of Primitive Static States Based on State Transition Analysis(Robotics and Mechatronics in Construction and Demolition)
In this paper, state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector, are analyzed for describing work states in more detail. From a transition-condition analysis, practical state transitions (PST), which are frequent transitions in arbitrary construction work, are defined. PST can be classified into essential (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. Work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.
ロボティクス・メカトロニクス講演会講演概要集 2012(0), _1A2-F02_1-_1A2-F02_2, 2012