Model-Based Integration of Environment Description and Task Execution

  • Tsutomu Hasegawa
  • Takashi Suehiro
  • Tsukasa Ogasawara
Part of the NATO ASI Series book series (volume 50)


This paper describes a model-based manipulation system being developed at Electrotechnical Laboratory. The system is composed of a direct-drive 6-revolute-joints manipulator ETA-3, a 3-D data acquisition system, an environment modeler with a geometric reasoning subsystem, and a programming system ETAlisp. Conventional CAD modeler provides idealized geometric description, while the robot system must executes tasks in the real world where a variety of constraints, errors and uncertainties must be treated. The system described in this paper is an integration to overcome these problems. A model base structure, a real world modeling system, a spatial calibration among coordinate frames, and a task execution system are described.


Torque Production Line Lution Reso Cali 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1988

Authors and Affiliations

  • Tsutomu Hasegawa
    • 1
  • Takashi Suehiro
    • 1
  • Tsukasa Ogasawara
    • 1
  1. 1.Electrotechnical LaboratoryTsukuba 305Japan

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