| 摘要 |
PROBLEM TO BE SOLVED: To generate task skill suitable for object work by modeling task skill for equipping a robot with human skill, defining a control system for generating the task skill, extracting a control parameter required for the task skill, and extracting a procedure for task skill operation. SOLUTION: Using a task skill generating device 1 utilizing hybrid control of impedance and force and a task skill generating device 1 utilizing impedance control, an operator operates by remote control a robot 2 of a slave device 11 using an operation input and presentation device 12 and a force sensor 13 for the object work, and extracts a task skill operation procedure required for generating the task skill, initial conditions based on a task skill model, task skill operation (a parameter of hybrid control of impedance and force and a parameter of impedance control), and termination conditions from the remote operation result. COPYRIGHT: (C)2006,JPO&NCIPI
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