Dynamic work space model matching for interactive robot operation

Abstract

A dynamic workspace model-matching method for interactive robot operation is proposed. The matching mechanism is realized by combining a low-level real-time pattern-matching process with the workspace model described in a frame system paradigm. In this method, the matching process is dynamically controlled by an interactive motion generation process. The workspace model gives an effective prediction, called workspace context, to the matching process. This prediction reduces three-dimensional location matching to two-dimensional pattern matching. The low-level pattern-matching process is implemented in a recursive algorithm using a pattern kinetics matching method and combined with the interactive robot operation system. The method was verified through implementation and experiments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>