Robot action generator using reusable motion modules

摘要

This paper introduces software which enables us to create robot control programs easily and intuitively. Robot control programs are generally difficult to develop because the development requires special knowledge on robotics, such as kinematics and dynamics. On the other hand, robot actions, whether simple ones or complex ones, are usually described as a series of basic robot motions. So the software developed by the authors implements such basic motions as built-in modules and provides a GUI to develop complex actions from them. The software also provides a function to store such complex actions in some persistent storage for later reuse. This paper presents details of the software and gives some experimental results.