Component-based robot system design for grasping tasks |
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Authors: | Yasushi Mae Hideyasu Takahashi Kenichi Ohara Tomohito Takubo Tatsuo Arai |
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Affiliation: | (1) Department of Robot Systems, Fraunhofer IPA, Nobelstr. 12, 70569 Stuttgart, Germany;(2) Robotics and Manufacturing, ABB AG, Corporate Research Center Germany, Wallstadter Str. 59, 68526 Ladenburg, Germany |
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Abstract: | The paper presents a robot system design with highly reusable components for a component-based robot system for manipulation tasks. The robot system is designed based on the analysis of manipulation tasks using a unified modeling language use case diagram. For a service robot with locomotion and manipulation mechanisms, reusability of robot system components is improved by adopting the proposed design. Our structure consists of scenario, task, robot information management server, data analyzer, sensor hardware controller, skill, and motion hardware controller on a component-based robot system. Based on the proposed robot system, we implemented a component-based robot system and subsequently realized a grasping motion by a service robot. |
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