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Conference Paper Development of Unit Robot Skill based Task Recipe for Task Planning
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Authors
Hyonyoung Han, Eunseo Lee, Hyunchul Kang
Issue Date
2020-10
Citation
International Conference on Information and Communication Technology Convergence (ICTC) 2020, pp.1720-1722
Publisher
IEEE
Language
English
Type
Conference Paper
DOI
https://dx.doi.org/10.1109/ICTC49870.2020.9289373
Abstract
This paper introduces robot task planning recipe based on unit robot skills for multi task robots. In small quantity batch production and mixed flow manufacturing condition, machines and robots should execute various types of multi task for various shapes of objects. As a first step, this paper classified the actions of arm and gripper, and defined parameters of each modules; speed, type, and position. As a second step, this research organized unit actions for multiple tasks. Each action in the task was described by the arm or gripper positions which were composed of a combination of fixed parameter (home, jump and on positions) and real-time parameters (object and output positions). As a test, we created two task recipes; pick-and-place and peg-in-hole. The Pick-and-place task consisted of 14 units actions, and the peg-in-hole task consisted of 27 units actions with dual robots. This task recipe could be used in various degrees and number of the robot system.
KSP Keywords
Batch production, Mixed flow, Multiple tasks, Peg-in-hole, Pick-and-place, Real-time, Second step, Task planning, multi-task, robot system, robot task