Task Programming for Robots Using Multi-mode Control – Preparation of Modes to Generate Motions for Disassembly Task –

Based on the consideration of tasks and motions and their relations, a method called “multi-mode control” is proposed to facilitate programming of robot tasks that require sensorimotor control. In this method, a mode defines a specific relation of sensor information and robot motion. A string of modes which correspond to the interactions of robot and environment constitutes a task program. Modes useful for disassembly tasks, beside others, are implemented. Tasks such as peg extraction are programmed using these modes and performed successfully.