視覚センサを用いたシーリングロボットの作業軌道の自動教示法

概要

論文の詳細を見る
In this paper, we propose a method for automatically generating task trajectories of a sealing robot using a three-dimensional vision sensor to teach a sealing task. In this method, the desired trajectory of a robot for a sealing task can be generated by detecting its position and orientation at a seam position through a vision sensor attached to a robot hand. A method for determining the control parameters of the teaching system is also presented by simplifying the block diagram. Since the accuracy of the trajectory generated for the sealing task by this method is not under the influence of the motion of the robot, the task trajectory can be obtained with high accuracy. The effectiveness of the present methods is demonstrated experimentally, and the robot has been shown to move smoothly by determining the control parameters from the simplified block diagram of the teaching system.
一般社団法人日本機械学会の論文
1996-01-25