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- W2319367002 abstract "To enhance the ability of robot manipulators to be applied to assembly tasks in unstructured environments, intelligent control to extend the autonomy of the manipulator is urgently required. The concept of the intelligent control, however, has not been established although many approaches have been presented. This paper presents an approach to the implementation of artificial skill-artificially realized human physical skill to be controlled intelligently-that combines the framework of symbolic manipulation by Lisp and the framework of hybrid control of positions and forces that has been presented for the control of constrained motion. First, on the analogy of human brain that implements natural skill, the control system is designed hierarchically, of which the upper level consists of recognition and planning systems based on specially designed rules and the lower level consists of a hybrid controller written by C. An important part is the interface between the upper and lower levels, which is designed in order for the framework of the hybrid control to be matched with the upper level. The above design framework is applied to a special task: a peg-in-hole task, to yield a skill system for the task. Simulation results show that the system controls the task successfully." @default.
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- W2319367002 date "1991-01-01" @default.
- W2319367002 modified "2023-10-01" @default.
- W2319367002 title "An approach to the design of a skill system for assembly tasks." @default.
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- W2319367002 doi "https://doi.org/10.7210/jrsj.9.11" @default.
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