Robot Task Experiment

Stundents in this experiment will develop a task strategy for robotics tasks such as peg-in-hole insertion, crank turning, and jaggling. Then, they will realize the developed strategy on a 6 d.o.f. mechanical manipulator so that the manipulator can perform the given task. (Dept.Robotics, B3)


1stIntroduction of experimental setup
2nd, 3rdPosition/trajectory control by teaching-and-playback
4th - 6thTrajectory/impedance control
7th - 9thForce/impedance control
10h - 14thTask realization and contest

Evaluation: attendance record and reports
Textbook: handouts

2000

[JS2]
Teaching-and-playback
(MPEG 1.0MB)
[JS2]
Explanation on trajectory plan for irritating bar game
(MPEG 18.5MB)

Robot Task Experiment
Task Realization Contest

Task Realization Contest
Specified Task

 
 
 

1999

 

1998

[JS2]
Teaching-and-playback
(irritating bar game)
[JS2]
Teaching-and-playback
(irritating bar game)
[JS2]
Trajectroy/force/
impedance control
(rolling a roller)
[JS2]
Trajectroy/force/
impedance control
(rolling a roller)


[Education]