Automatic learning of assembly tasks using a DataGlove system

摘要

This paper deals with the automatic programming of robots. We present here a method in which a robot can learn new assembly tasks by monitoring the performance of a human operator wearing a DataGlove. In particular, the system records the motions of the DataGlove as it is used to manipulate actual objects and, by using geometric reasoning, deduces the assembly task that is being performed. Subsequently, the assembly steps thus deduced are translated automatically by a task planner into a robot manipulation program. In experimental demonstrations of this system, the robot can now learn assembly tasks involving pickups, putdowns and various mating operations.