Robot Skill Components for RT-Middleware
نویسندگان
چکیده
This paper describes a requirement of task skill in a service field, and a few task skill studies using our task skill transfer method. In a previous research, we have proposed a task skill transfer method using a bilateral teleoperation. In this method, it is assumed that a robot arm is implemented by the hybrid impedance/force control, and is able to execute a task by a suitable trajectory of impedance center and a suitable target force. Thus, we find the suitable trajectory of impedance center and the suitable target force using our task skill transfer method. To re-use the task skill easily, moreover, this paper comments on the need for task skill components for RT-Middleware.
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