A robot task design and management system for industrial applications

Abstract

A new robot task design and management system has been developed for tool manipulation tasks done by a sensor-based robot. This design and management system can be used for all processes from teaching to task execution. A task description can be generated easily and intuitively by using graphical user interface, without precise geometrical workpiece models. Task conditions are inputted interactively by arranging iconized structured task components in accordance with the task procedure. A robot system to deburr the outside of an aluminum-cast workpiece was developed as one example of an application of this system. The results of a system evaluation experiment confirmed that the system enables the systematic task description and control of a task to be performed by a sensor-based robot system.