The representation method of robotic assembly task with click action

Abstract

The skill of robotic task has been studied in many research institutes. We have been researching the skill for the assembly of the consumer products. We has developed the original knowledge representation for robotic assembly task with the position and force control. We proposed the representation method of the skill that a human has and the construction method of a knowledge base for robotic assembly task. In this paper, we analyzed the assembly task with the click action. And, we proposed the knowledge representation that checked the differential value of the sensor. As a result, the representation of the assembly task with the click action became possible. In addition, we programmed the proposed representation and confirmed the assembly work in an actual robot with the click action. Then, the effectiveness of the representation was confirmed.