F-0607 工具特徴モデルによるロボット用工具の表現(S41-2 生産システムにおけるハードウェア技術(2))(S41 生産システムにおけるハードウェア技術)

概要

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The study deals with a proposal of "tool characteristic model" to describe the tool characteristic which is used in an industrial robot performing a variety of operations on the basis of CAD data. Industrial robots are often used together with various and complex shaped tools. A human can under-stand the tool characteristics such as geometric shapes, functions and directions to use at a glance. Without an appropriate description of tool characteristics, neither robot can not get enough work space can nor workpieces be machined accurately. Therefore, the tools have to be modeled so as to describe their characteristics in a parametric manner. The tool characteristic model-geometrical tool characteristics, functional tool characteristics, workpiece surface information-enables software development for automatic robot control command generation to be simple and effective even if system elements such as CAD system, tool and robot has changed.
社団法人日本機械学会の論文
2001-08-22