マン・ロボット協調作業型マニピュレータの基礎的研究 : 第1報, マン・ロボット協調マニピュレータの機構と制御

概要

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This paper deals with the mechanism and the control method of the man-robot cooperation work type of manipulator with four degrees of freedom aiming at the application to the construction field. Because of the coming labor shortage of the aging society in the near future, robots will be used in the Construction fields more and more. To support robot operation, this study aims to develop a cooperation work type of robot to be controled easily by the direct teaching. The robot has the following features: (1) It has 4 D. O. F. and a parallel link mechanism. (2) It has a control sensor and a force sensor to cooperate with the operator and to control contact force between the robot and payloads or wall, etc. (3) The end effector of this robot has a vacuum system to carry payloads. (4) To make the operations of position control easy, the first arm is made fixable and also it has the bending vibration control system. With these features, this robot system makes it possible to carry heavy payloads easily and this system can be used for various kinds of work.
一般社団法人日本機械学会の論文
1991-09-25