Direct Teaching and Error Recovery Method for Assembly Task based on a Transition Process of a Constraint Condition
نویسندگان
چکیده
A new method for a simplification of a teaching in robotic assembly is presented. Generally, an assembly task is a process that a constraint condition between two workpieces changes. There are many researches for teaching an assembly task to a robot system by a modelbased approach. However, it takes a lot of time to revise information of models that depends on a task environment when every new task is taught to a robot in these modelbased approach. In this paper, we propose a method to simplify a teaching by taking an approach that a human teaches a task to a robot without giving models of a task environment and task processes. Additionally, we also propose a method to realize a robotic assembly that is robust for errors by executing a task as a transition process of a constraint condition. Experimental results show effectiveness of our method.
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