汎用作業に供する実用可搬式7軸マニピュレータの試作実験 : 運動制御部構成の改良と可搬式化

概要

論文の詳細を見る
Fields of robot application progress from line production, such as car and electronics assembly, to facility maintenance such as inspection and repair, which is not automated at present. Intelligent functional elements, environmental information, task planning and operational programs (data bases), are necessary so that an intelligent robot may be used for new applications. It is also important that such a robot be easily portable. The authors propose an integrated robot system, typically combining end effectors, a multi-use manipulator, lifting equipment and open-system communication (connectable to various CPUs : Center Processing Units). Essential functions and operational perfomance are experimentally verified by a prototype system consisting of automatic end effectors, a 7-axis intelligent manipulator, and digital signal transmission (LAN : Local Area Network) between servo-controllers and drivers that makes motion control parts compact enough to be mounted on the actual robot.
一般社団法人日本機械学会の論文
1993-09-25