動的再構成可能ロボットシステムに関する研究 : 第19報,2本ガイドを有する新型セルの組立作業

概要

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In this paper, we first introduce a new type of cell of the self organizing manipulator which was developed by the authors, then present a method for assembling this type of cell using manipulators. Since the new type of cell has two guides for connection, it can also be considered as a dual-peg-in-hole configuration. To obtain effective assembly sequence of cells, we observe the sequence of work as well as force data and psychological data of the people performing the same work. By analyzing the result of the experiment, we obtained a reasonable sequence for performing such work. We apply this result to the assembly work of cells using a camera coordinated with a force/torque sensor. The analysis of the force relation in the dual-peg-in-hole configuration, and result of experiment are also presented.
1995-02-25