Handey : a robot task planner
著者
書誌事項
Handey : a robot task planner
（The MIT Press series in artificial intelligence）
MIT Press, c1992
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注記
Includes bibliographical references and index
内容説明・目次
内容説明
HANDEY is a task-level robot system that requires only a geometric description of a pick-and-place task rather than the specific robot motions necessary to carry out the task. The system-building process this book describes is a step toward eliminating the programming bottleneck that is keeping robots from fulfilling their scientific and economic potential. The HANDEY system, the state-of-the-art technologies for developing it, and the problems encountered are presented, aided by numerous marginal illustrations. The development of HANDEY is part of the authors' long-term goal of achieving systems that can manipulate a variety of objects in different environments using a wide class of robots. HANDEY has been tested on numerous pick-and-place tasks, including parts ranging from wooden cubes to electric motors; it can be used to generate commands for different types of industrial robots, can coordinate two arms working in the same workspace, and has been tested with a module that locates the position of a specific part in a jumble of other parts.
The first three chapters introduce the HANDEY system and task-level robot programming systems in general, address the problem of planning pick-and-place tasks, review areas of geometric modelling and kinematics required for subsequent chapters, and introduce the concept of configuration space, which plays a prominent role in HANDEY. The next four chapters describe how HANDEY operates.
目次
- Part 1 Introduction: HANDEY
- robot programming
- why is robot programming difficult?
- what HANDEY is and is not. Part 2 Planning pick-and-place operations: examples of constraint interactions
- a brief overview of HANDEY
- the HANDEY planners
- combining the planners
- previous work. Part 3 Basics: polyhedral models
- robot models
- world models
- configuration space. Part 4 Gross motion planning: approximating the COs for revolute manipulators
- slice projections for polyhedral links
- efficiency considerations
- searching for paths
- a massively parallel algorithm. Part 5 Grasp planning: basic assumptions
- grasp planner overview
- using depth data in grasp planning
- the potential-field planner. Part 6 Regrasp planning: grasps
- placements on a table
- constructing the legal grasp/placement pairs
- solving the regrasp problem in handey
- an example
- computing the constraints
- regrasping using two parallel-jaw grippers. Part 7 Co-ordinating multiple robots: co-ordination and parallelism
- robot co-ordination as a scheduling problem
- the task completion diagram
- generating the TC diagram
- more on schedules
- other issues. Part 8 Conclusion: evolution
- path planning
- experimentation
- what we learned. (Part contents)
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