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In order to perform intelligent tasks using a tool, it is necessary to estimate the relation between a robot system and the tasks. However, no estimation method for this relation is currently available. Therefore, this paper proposes an estimation method for this relation by using an external sensor. In this paper, the hybrid control method based on the oblique coordinate system is utilized. Then, this relation can be treated as a task Jacobian matrix. By using the proposed method, it is possible to estimate the correct task Jacobian matrix, even if the kinematic relation between the robot system and the tool is not known or is changed during the task. As a result, the tasks are performed with this tool. From the simulation and the experimental results, the validity of the proposed method was confirmed.

An Estimation Method for the Relation between a Robot System and Tasks Using a Tool