| DOI | Trouver le DOI : https://doi.org/10.1115/DETC2012-71359 |
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| Auteur | Rechercher : Mantegh, I.1 |
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| Affiliation | - Conseil national de recherches du Canada. Aérospatiale
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| Format | Texte, Article |
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| Conférence | ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012, 12 August 2012 through 12 August 2012, Chicago, IL |
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| Sujet | Flexible automation; Human demonstrations; Key Patterns; Native language; Programming by demonstration; Robot trajectory; Task planning; Trajectory pattern; Algorithms; Design; Robots; Trajectories; Robot programming |
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| Résumé | A task planning method is presented to model and reproduce robot trajectories based on those captured from human demonstrations. In the framework of the Programming by Demonstration (PbD) approach, task planning algorithm is developed to determine the general type of trajectory pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and are then reduced based on their proximity. The results of the analysis are provided are used inside a task planning algorithm, to produce robot trajectories based on the workpiece geometries. The trajectory is output in the form of robot native language code so that it can be readily downloaded on the robot. © 2012 by ASME. |
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| Date de publication | 2012 |
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| Dans | |
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| Langue | anglais |
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| Publications évaluées par des pairs | Oui |
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| Numéro NPARC | 21269262 |
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| Exporter la notice | Exporter en format RIS |
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| Signaler une correction | Signaler une correction (s'ouvre dans un nouvel onglet) |
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| Identificateur de l’enregistrement | 1e2faa12-927f-446c-a81e-d057bb512088 |
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| Enregistrement créé | 2013-12-12 |
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| Enregistrement modifié | 2020-04-21 |
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