Table 2 Task categorization for assembly work
Task | Sub-task | (A) Perception | (B) Motion | (C) Sensorimotor |
|---|---|---|---|---|
(1) Base operation | Picking | Base | Pick up base | – |
Placing | Workbench | Place base on workbench | – | |
(2) Cover operation | Picking | Cover | Pick up cover | – |
Moving | Workbench | Layer cover over base | Alignment adjustment | |
Placing | Workbench | Place cover on base | – | |
(3) Take screwdriver | Grasping | Screwdriver | Reach for screwdriver | Position adjustment |
Moving | Screw holder | Move to screw holder | – | |
(4) Pick up screw | Moving | Screw | – | Approach screw |
Grasping | Screw | – | Pick up screw | |
(5) Screw Fasten | Moving | Screw hole | Move to screw hole | – |
Fasten | Screw hole | Fasten screw | – |