403 GUIを用いた高速パラレルロボットの接触作業教示(計測・制御・ロボット)

概要

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While teaching the tasks to a high-speed robot, an off-line teaching method can be better than an on-line one. It is because the off-line method does not depend on an operator's high-speed task execution skills. Therefore, we have developed an off-line teaching method utilizing a GUI and the graphics model of the real system. However, due to the modeling errors, it is very difficult for an operator to correctly judge the occurrence of the contacts in the real task environment. Due to this fact, it is very difficult to teach the contact tasks through GUI leaving the modeling errors with it. As a solution to this problem, we propose to teach the contact tasks with GUI after calibrating the model environment with the actual robot. As the example, a surface tracking task and a peg-in-hole task are taught through GUI and then realized on the robot. From the results, we achieved the usefulness of the task teaching method with GUI.
一般社団法人日本機械学会の論文
2000-08-15