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.


Task Execution Spatial Reasoning Laser Pointer Manipulation Environment Model Base Structure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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