지적 원격조작 시스템에 있어서 에러회복 전문가 시스템 구축에 관한 연구 = A Study on an Error Recovery Expert System in the Advanced Teleoperator System

다국어 초록 (Multilingual Abstract)

In order to utilize the inverse kinematics as means of the operation by program in the manual mode, previous study determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T. V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system(ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is determined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human in the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand.