117 能動的挿入システムを有するフレキシブル治具の開発(GS-15 ロボティクス・メカトロニクス)

概要

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This paper describes a development of flexible treatment device which can hold object of various shape and which has elasticity in the direction of the vertical direction and the horizontal. With this treatment device, we think about the thing to do the assembly operation between two parts with a big positional error margin smoothly. For that, the error margin at the position is judged from information on an inner force sense sensor of the treatment device and a positional sensor of the treatment device. For that, we construct the system, which actively corrects the positional error margin. It judges the positional error margin by using information on the inner force sense sensor and positional sensor of treatment device.
社団法人日本機械学会の論文
2004-03-17