Component feature model for robot task

Abstract

Task motion with task coordinates is described by the component feature (CF) labels given to six degrees of freedom. A task motion model is proposed as a CF model. The CF model representation includes not only natural and artificial constraints but also sensor-based tracking motion control. A number of task motions to be analyzed are collected and described by the CF model. Assisted design support based on constraints satisfaction is also shown to be achieved by the CF model task representation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>