2017年
階層型プランニングシステムによる産業用ロボットの自律的エラーリカバリー
計測自動制御学会論文集
- ,
- ,
- ,
- 巻
- 53
- 号
- 1
- 開始ページ
- 80
- 終了ページ
- 89
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.9746/sicetr.53.80
- 出版者・発行元
- 公益社団法人 計測自動制御学会
In recent automated production lines, it is important for industrial robots to recover from unexpected errors autonomously without intervention by human operators. In this paper, a hierarchical planning system that realizes autonomous error recovery of robots is proposed and demonstrated, and its effectiveness in cooperative work is verified. In order to realize a variety of flexible error recovery functions, a partial order planning scheme as well as a re-planning capability utilizing semantic information on the production environment are proposed.
- リンク情報
- ID情報
-
- DOI : 10.9746/sicetr.53.80
- ISSN : 0453-4654
- CiNii Articles ID : 130005297355
- CiNii Books ID : AN00072392