ロボットマニピュレータにおける障害物検出のための近接覚センサの分布配置

概要

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In this paper, we discuss the sensor allocation problem of a robot manipulator for detecting obstacles. The detection of obstacles in the working space is important for safety and the efficiency of robot control. Therefore it is necessary to allocate the sensors properly on the links of robot manipulator. Here, we propose an effective sensor allocation method. One method is based on the joint coordinates of the robot and the other is based on the orthogonal working space. In addition we show the additional sensor allocation with the quantitative condition of the robot and an obstacle. The optical proximity sensor which is developed by the authors is used, and the proposed allocation method is applied to the SCARA type robot. It is proved that the effective sensor allocation is realized by the experiment of obstacle avoidance control.
東海大学の論文